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4.5 Command Data Field
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4
MONITOR1/2/3/4 Monitor Codes
* Up to 4 monitor codes can be set to MONITOR 1 to 4.
4.5.5
IO Monitor Field Specifications: IO_MON
The IO monitor field specifications (IO_MON) can be designated using the following com-
mands:
SMON, SV_ON, SV_OFF, HOLD, INTERPOLATE, POSING, LATCH, EX_POSING,
ZRET, SENS_ON, SENS_OFF, BRK_ON, BRK_OFF
The IO monitor field is used to monitor the I/O signal status of the SERVOPACK, with the
fourteenth to fifteenth byte reserved area of the above main commands.
Monitor
Codes*
Name
Description
Unit
0
POS
Reference position in the reference coordinate sys-
tem (position after reference filter procedure)
Reference units
1
MPOS
Reference position in the mechanical coordinate
system
Reference units
2
PERR
Position error
Reference units
3
APOS
Feedback position in the mechanical coordinate
system
Reference units
4
LPOS
Feedback latch position in the mechanical coordi-
nate system
Reference units
5
IPOS
Reference position in the reference coordinate sys-
tem (position before reference filter procedure)
Reference units
6
TPOS
Target position in the reference coordinate system
Reference units
7
8
FSPD
Feedback speed
Position/torque control: reference units/s
Speed control: Maximum speed /40000000H
9
CSPD
Reference speed
Position/torque control: reference units/s
Speed control: Maximum speed /40000000H
A
TSPD
Target speed
Position/torque control: reference units/s
Speed control: Maximum speed /40000000H
B
TRQ
Torque reference (The rated torque is 100%.)
Position/torque control: %
Speed control: Maximum torque /
40000000H
C
D
E
OMN1
Option monitor 1 selected in Pn813.0
F
OMN2
Option monitor 2 selected in Pn813.1