Mechatrolink-Iii Monitoring; Monitoring With The Sigmawin+; Monitoring With The Digital Operator - YASKAWA Sigma-7 Series Product Manual

3.5 Monitoring
3.5.1

Monitoring with the SigmaWin+

The current correction amount in the Position Correction Table can be monitored with the
Motion Monitor Window.
Button in Menu Dialog Box
Motion Monitor
Refer to the following manual for detailed operating procedures for the SigmaWin+.
Engineering Tool SigmaWin+ Operation Manual (Manual No.: SIET S800001 34)
3.5.2

Monitoring with the Digital Operator

Un04D can be used to monitor the current correction amount in the Position Correction Table
with the Digital Operator.
Un No. Sign
Un04D*
*
The correction amount of only the symmetrical axis (slave axis) for position correction is output. 0 is always output
for the master axis.
Refer to the following manual for monitor data other than that listed above.
Σ-7-Series Digital Operator Operating Manual (Manual No.: SIEP S800001 33)
3.5.3

MECHATROLINK-III Monitoring

Monitor Information
The following MECHATROLINK-III monitor data is selected with common parameters PnB0E
(Monitor Select 1) and PnB10 (Monitor Select 2).
The correction amount added in the SERVOPACK is checked with 004Dh of Pn824 (Option
Monitor 1 Selection) and Pn825 (Option Monitor 2 Selection).
The code that can select whether to monitor position information before position correction or
after position correction with Pn847 = n.X (Position Correction Table-Related Monitor
Selection) is given next. The other selection codes are the same as the Σ-7W SERVOPACK with
MECHATROLINK-III Communications References (SGD7W-
mation does not change before position correction and after correction.
Selection
Code
0
1
2
3
4
9
Current Correction Amount in Position
Correction Table [reference unit]
Unit
Current Correction
Yes 1 reference unit Amount in Position
Correction Table
Monitor Name
Monitor Name When CMN or OMN
Is Selected
APOS -
CPOS -
PERR -
LPOS1 -
LPOS2 -
MPOS -
3.5.1 Monitoring with the SigmaWin+
Name [Unit]
Name
Current correction amount calculated
from the Position Correction Table
 A20), and the position infor-
Description
Feedback Position
Command Position
(after filtering)
Position Error
Latched Position 1
Latched Position 2
Command Position
(including control delay)
3.5 Monitoring
Description
Information
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-
-
-
-
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