Yaskawa Σ-V Series AC Servo Drives Rotational Motor MECHATROLINK-III - Manual (Page 192)

5 Adjustments
5.8.6 Backlash Compensation Function
5-82
(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.
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)
– –
Parameters Monitor Information Output Unit Remarks
Pn824
Pn825
0003H Position error (lower 32 bits)
Reference
unit
–
0004H Position error (upper 32 bits)
Reference
unit
–
000AH Encoder count (lower 32 bits)
Reference
unit
Count value of the actually driven
motor encoder
000BH Encoder count (upper 32 bits)
Reference
unit
000CH
Reserved – –
000DH
0017H Un007: Input reference speed min -1 Same as monitor mode Un007
0018H Un008: Position error amount
Reference
unit
Same as monitor mode Un008
001CH Un00C: Input reference counter
Reference
unit
Same as monitor mode Un00C
001DH Un00D: Feedback pulse counter
Encoder
pulse
Same as monitor mode Un00D
0080H
Previous value of latched feedback
position (LPOS) Encoder
pulse
Feedback position with the backlash
compensation subtracted