9 Monitoring
9-2
9.1
SERVOPACK Monitors
Σ
-V-SD servo drivers can monitor SERVOPACK and motor status through MECHATROLINK-III communi-
cations.
Monitor information can be used to help determine the cause of alarms, as maintenance information, and in
many other useful ways.
Monitor information can also be used to draw the path of a motor axis to easily view the results of servo
adjustments.
The host controller does not necessarily have to provide the ability to display monitor information, but this
function can be very useful in many situations. You must determine in advance what types of monitor infor-
mation to use, what GUIs to display, and what type of path tracing to perform on the host controller.
The primary functions are as follows:
• Servo tracing
• Path drawing (circular arc paths)
• Tapping synchronization accuracy drawings
• I/O monitoring
Selecting Monitor Information
Σ
-V-SD servo drivers can constantly monitor a variety of SERVOPACK information.
Select the information to monitor in the monitor selection fields.
For common and optional monitors, the information to monitor is selected with a parameter.
A maximum of six different types of monitors can be obtained through a combination of main commands and
subcommands. Refer to
4.2 Monitor Data
in the
Σ
-V-SD Series User’s Manual MECHATROLINK-III Stan-
dard Servo Profile Commands
(Manual No.: SIEP S800000 76) and
12.1 List of Parameters
in the
Σ
-V-SD
Series User’s Manual
(Manual No.: SIEP S800000 78) for details on the types of monitor information and
monitor information selection.
• Monitor Selections
The SVCMD_CTRL area for the main command is shown below.
The SUB_CTRL area for the subcommand is shown below.
Bit 23
Bit 22
Bit 21
Bit 20
Bit 19
Bit 18
Bit 17
Bit 16
SEL_MON2
SEL_MON1
Bit 31
Bit 30
Bit 29
Bit 28
Bit 27
Bit 26
Bit 25
Bit 24
Reserved (0).
SEL_MON3
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
Bit 8
SEL_MON4
Reserved.
Bit 23
Bit 22
Bit 21
Bit 20
Bit 19
Bit 18
Bit 17
Bit 16
SEL_MON6
SEL_MON5