5.1 Monitor of Drive Unit
5-4
Monitor data can be set as follows:
* 1. The voltage is increased 10 times if DD motor is used.
* 2. Torque reference after gravity compensation (Pn411)
* 3. In the case of speed control, the monitor signal for position deviation is
indefinite.
* 4. Gap (0.01V/pulse) is output if Drive Clearance Control is active.
Monitor magnification can be set as follows:
Analog monitor output voltage is
±
10 V max. MD3003 must be set so that maximum voltage is not
exceeded.
Table 5.3 MD3003 Monitor Data Selection
Setting for 1st/3rd
digit of MD3003
Meaning
Monitor signal
Observation gain
0
Motor speed
*1
1V/1000 min
-1
1
Speed setpoint
*1
1V/1000 min
-1
2
Torque setpoint
*2
1V/100% Rated torque
3
Position deviation
*3
0.05V/input increment
4
Position amplitude deviation
*3
(Position control compensator deviation)
0.05V/input increment
5
Position command speed
[min
-1
conversion]
*1
1V/1000 min
-1
6
Observer speed
*1
1V/1000 min
-1
7
Deviation between direct and motor
encoder
*4
0.01V/input increment
8
Quadrant error compensation
1V/100%
9
Speed feed forward
*1
1V/100 min
-1
A
Torque feed forward
1V/100%
B
Reserved
−
C
Reserved
−
D
Estimated disturbance torque
*2
1V/100%
E
Vibration-damping monitor
*1
1V/125 min
-1
F
Reserved
−
Table 5.4 Monitor magnification
Settings for 2nd/4th
digit of MD3003
Meaning
0
Monitor magnification: 1
1
Monitor magnification: 10
2
Monitor magnification: 100
3
Monitor magnification: 1/10
4
Monitor magnification: 1/100
INFO
INFO