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4 MECHATROLINK-
II
Communications
4.5.4 Monitor Selection and Monitor Information Field Specifications: SEL_MON1/2/3/4, MONITOR1/2/3/4
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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_MON1/2/3/4,
MONITOR1/2/3/4) can be designated using the following main commands:
SV_ON, SV_OFF, HOLD, INTERPOLATE, POSING, LATCH, EX_POSING, ZRET,
SMON, SENS_ON, SENS_OFF, BRK_ON, BRK_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
nineteenth byte reserved area of the subcommands.
SEL_MON1/2/3/4 Fields
D9
T_LIM
Torque limit
0
Not during torque limit
1
During torque limit
D10
L_CMP
Latch completion
0
Latch not completed
1
Latch completed
D11
NEAR
Positioning proximity
0
Out of positioning proxim-
ity range
Position
control mode
1
Within positioning proximity
range
V_LIM
Speed limit
0
Speed limit not detected
Torque
control mode
1
Speed limit detected
D12
P_SOT
Forward software limit
0
Out of range
1
Within range
D13
N_SOT
Reverse software limit
0
Out of range
1
Within range
D14
Reserved
D15
Reserved
(cont’d)
Bit
Name
Description
Set
Value
Details
Control
Mode
D7
D6
D5
D4
D3
D2
D1
D0
SEL_MON2
SEL_MON1
D7
D6
D5
D4
D3
D2
D1
D0
SEL_MON4
SEL_MON3