YASKAWA S Series, User Manual, Page: 114 / 284

6.4 Special Descriptions
Name Code
Description Units
POS 0 Position in the reference coordinate system Reference units
MPOS 1 Position in the mechanical coordinate system Reference units
PERR 2 Position error Reference units
APOS 3 Absolute position Reference units
LPOS 4 Counter latch position Reference units
I P OS 5 Internal position in the reference coordinate
system Reference units
TPOS 6
Final target position Reference units
— 7 —
—
FSPD
8 Feedback speed Reference units/s
CSPD 9 Reference speed Reference units/s
TSPD A Final target reference speed Reference units/s
TRO
B
Torque reference Reference units
— C — %
— D — -
- E — -
- F — —
6.4.3 Monitor 1/2 Type Field Specifications
1 Command
2
3
4
Option
5
6
7
8
9
10
11
12
13
14
15
16
WDT
The monitor 1/2 type, the thirteenth byte of the reference data field
o f commands, is reserved to select monitor data that w i l l be re-
turned.
The f o l l o w i n g types o f m o n i t o r i n g are a v a i l a b l e w i t h t h e
SGDB-1110 ON.
• Appropriate commands for monitor 1/2 type
SMON, S V _ O N , S V _ O F F, I N T E R P O L AT E , P O S I N G ,
FEED, L A T C H , E X _ P O S I N G , Z R E T
The following table outlines the data (codes) and monitoring contests of monitor 1/2 type.
Note 1. T h e minus (—) sign indicates unused bits. Do not use them.
2. Feedback speed is approx. 20 [reference unit/s] (factory setting) and refer-
ence speed is a resolution of 500 [reference unit/s].