Yaskawa Sigma-5 Large Capacity Users Manual: Design and Maintenance-Rotary Motors-Mechatrolink-III Communication Reference - Manual (Page 234)

5 Adjustments
5.8.6 Backlash Compensation Function
5-68
(5) Monitor Functions (Un Monitoring)
(6) MECHATROLINK Monitor Information
This section describes the information that is set for the MECHATROLINK monitoring information (Monitor
1, Monitor 2, Monitor 3, and Monitor 4) and the backlash compensation operation.
Un No. Displayed Information Unit Specification
Un007 Input reference speed min -1
Indicates the input reference speed before backlash
compensation.
Un008 Position error amount Reference unit
Displays the position error with respect to the position
reference after backlash compensation.
Un00C Input reference counter Reference unit
Displays the input reference counter before backlash
compensation.
Un00D Feedback pulse counter Encoder pulse
Displays the pulse count of the actually driven motor
encoder.
Un00E
Fully-closed feedback
pulse counter External encoder
resolution
Displays the pulse count of the actually driven external
encoder.
Un013 Feedback pulse counter Reference unit
Displays the pulse count of the actually driven encoder
in reference units.
Monitor
Code
Designation Meaning Unit Remarks
0 POS
Reference position in the reference
coordinate system (after the position
reference filter)
Reference
unit
–
1 MPOS Reference position
Reference
unit
–
2 PERR Position error
Reference
unit
–
3 APOS
Feedback position in the machine
coordinate system Reference
unit
Feedback position with the backlash
compensation subtracted
4 LPOS
Feedback latch position in the
machine coordinate system Reference
unit
Feedback position with the backlash
compensation subtracted
5 IPOS
Reference position in the reference
coordinate system (before the position
reference filter)
Reference
unit
–
6 TPOS
Target position in the reference coor-
dinate system Reference
unit
–
E OMN1
Option monitor 1
(selected with Pn824)
– –
F OMN2
Option monitor 2
(selected with Pn825)
– –