4.5 Command Data Field
101
4.5.4 Monitor Selection and Monitor Information Field Specifications:
SEL_MON1/2/3/4, MONITOR1/2/3/4
The monitor selection and monitor information field specifications (SEL_MON
*
, MONITOR
*
) can be
designated using the following main commands:
SV_ON, SV_OFF, HOLD, INTERPOLATE, POSING, FEED, LATCH, EX_POSING, ZRET, SMON,
SENS_ON, SENS_OFF, BRK_ON, BRK_OFF, LTMOD-ON, LTMOD-OFF
The monitor selection and monitor information field is used to select the Servo monitor information and
monitor it, with the thirteenth byte of the above main commands, or the twenty-seventh byte reserved
area of the subcommands.
SEL_MON1/2/3/4 Field
MONITOR1/2/3/4 Monitor Codes
* For the items to be monitored for the SEL_MON commands (1 to 4), assign their monitor codes to the parame-
ter.
D7
D6
D5
D4
D3
D2
D1
D0
SEL_MON2
SEL_MON1
D7
D6
D5
D4
D3
D2
D1
D0
SEL_MON4
SEL_MON3
Monitor
Codes*
Name
Description
Unit
0
POS
Reference position (position after refer-
ence filter procedure)
Reference units
1
MPOS
Reference position
Reference units
2
PERR
Position error
Reference units
3
APOS
Feedback position
Reference units
4
LPOS
Feedback latch position
Reference units
5
IPOS
Reference position (position before refer-
ence filter procedure)
Reference units
6
TPOS
Target position
Reference units
7
−
−
−
8
FSPD
Feedback speed
Reference units/s
9
CSPD
Reference speed
Reference units/s
A
TSPD
Target speed
Reference units/s
B
TRQ
Torque reference (The rated torque is
100%.)
%
C
−
−
−
D
−
−
−
E
−
−
−
F
−
−
−
TOEP_C710806_03A_1_0.book Seite 101 Montag, 2. Juli 2007 3:55 15
