10.3 Monitoring Machine Operation Status and Signal Waveforms
10.3.1 Items That You Can Monitor
10-6
10.3
Monitoring Machine Operation Status and Signal Waveforms
To monitor waveforms, use the S trace function or a measuring instrument, such as a
memory recorder.
10.3.1
Items That You Can Monitor
You can use the S or a measuring instrument to monitor the shaded items in the fol-
lowing block diagram.
•
Rotary Servomotors
*
This speed is available when fully-closed loop control is being used.
•
Linear Servomotors
K
1
(U/V/W)
-
+
+
-
+
+
+
+
-
+
-
+
1
1
M
Kp
CN31
ENC
CN2
*
*
*
SERVOPACK
Speed feedforward
Position command speed
Speed reference
Position amplifier
deviation
Active gain
Torque reference
Speed
conversion
Position loop
Electronic
gear
Motor speed
Electronic
gear
Deviation
counter
Motor - load
position deviation
Fully closed
*
Speed
conversion
Deviation
counter
Completion of position
reference distribution
Positioning completion
Position deviation
Deviation
counter
Speed
loop
Speed
conversion
External encoder speed
Current
loop
Load
External
encoder
Electronic
gear
Backlash
compen-
sation
Torque feedforward
Torque
reference
Speed
reference
Position
reference
K
(U/V/W)
+
+
+
+
+
+
1
M
Kp
ENC
SERVOPACK
Position command speed
Speed
conversion
Position amplifier deviation
Speed reference
Active gain
Speed
loop
Current
loop
Load
Force reference
Position loop
Electronic
gear
Deviation
counter
Motor speed
Speed
conversion
Electronic
gear
Deviation
counter
Position deviation
Positioning completion
Completion of position
reference distribution
Force
reference
Speed
reference
Position
reference
Speed feedforward
Force feedforward
CN2