IAI IA-101-X-MW, Operation Manual

Page: 223 / 392

11. Monitor
215
Save the data in a file. (CSV format)
Time
Manipulated Variable: Original command pulse that composes the trapezoid or triangular patterns
calculated from speed, acceleration and deceleration.
Speed Command: Real command pulses sent from the controllers to the actuators.
Feedback Pulses: Positional pulses (feedback pulses) transmitted from the actuator encoder.
Position Deviation: Difference between manipulated variable and feedback pulse (actual position)
(version 7.06.03.00 or later)
Feedback current: Feedback current on motor (version 8.01.00.00 or later)
(Note) PSEL is can not monitor of feedback current.
Fig. 11.32 Monitoring Data (Display Example of SSEL, ASEL and PSEL)

Sampling Cycle when Buffered

The period of sampling cycle for one sample should be the value set in “Other Parameter No. 51:
Monitoring Data Buffering Cycle”.
The value can be changed in the range from 1msec to 100msec.
It should be set to 10msec when delivered.
Buffering indicates the
sampling number. The
cycle of one sample can
be set with “Other
Parameter No.51.”
Display the synthetic velocity of orthogonal axes.
The synthetic velocity can be checked when orthogonal
axes are controlled simultaneously and circle movement is
performed using CIR2 instruction.
Number of puls
es
This should be the number of samples when buffered.
Multiple this by the period of cycle set in “Other Parameter
No. 51”, and you will be able to figure out the time.
Multiple this by 10msec to figure out the time when delivered.
It shows the time (msec) when unbuffered.