YASKAWA SGDS Sigma III Series, User Manual

Page: 185 / 376

6 MECHATROLINK II Communications
6.5.4 Monitor Selection and Monitor Information Field Specifications: SEL_MON1/2/3/4, MONITOR1/2/3/4
6-52
6.5.4 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, FEED, LATCH, EX_POSING, ZRET, VCELCTRL,
TRQCTRL, 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 nineteenth byte reserved area of the
subcommands.
• SEL_MON1/2/3/4 Field
• MONITOR1/2/3/4 Monitor Codes
D11 NEAR Positioning proximity
0
Out of positioning proximity
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
Monitor
Codes* Name Description Unit
0 POS Reference position in the reference coordi-
nate system (position after reference filter
procedure) Reference units
1 MPOS Reference position in the mechanical coordi-
nate system Reference units
2 PERR Position error Reference units
3 APOS Feedback position in the mechanical coordi-
nate system Reference units
4 LPOS Feedback latch position in the mechanical
coordinate system Reference units
5 IPOS Reference position in the reference coordi-
nate system (position before reference filter
procedure) Reference units
6 TPOS Target position in the reference coordinate
system Reference units