Specifications

16.4
Analogue monitor
16
-13
The following monitor signals can be monitored.
∗ 1.
Torque reference after gravity compensation (Pn411)
∗ 2.
In the case of speed control, the monitor signal for position deviation
is indefinite.
Monitor magnification can be set as follows:
Analogue monitor output voltage is
±
8 V max. Even if the voltage exceeds this range, it is displayed
as
±
8 V.
Pn003.0 and
Pn003.2 settings
Descriptions
Monitor signal Observation gain
0 Motor rotation speed
1V/1000 min
-1
1 Speed reference
1V/1000 min
-1
2
Torque reference
*1
1V/100% Rated torque
3
Position deviation
*2
0.05V/a Command unit
4
Position amplitude deviation
*2
(Position control compensator deviation)
0.05V/a Command unit
5 Position command speed
[min
-1
conversion]
1V/1000 min
-1
6 Observer speed
1V/1000 min
-1
7 Collision detection amount
1V/100
％
8
Quadrant error compensation
1V/100
％
9 Speed feed forward
1V/1000 min
-1
A Torque feed forward
1V/100
％
B Model torque reference
1V/100
％
C Model position deviation 0.05V/a command unit
D Estimated disturbance torque
1V/100
％
E Vibration-damping monitor
1V/1000 min
-1
F System constant data-setting output -
Pn003.1 and
Pn003.3 settings
Descriptions
0 Monitor magnification: 1
1
Monitor magnification: 10
2 Monitor magnification: 100
3 Monitor magnification: 1/10
4 Monitor magnification: 1/100
INFO