Monitor 1/2 Type Field Specifications - YASKAWA SGM Series User Manual

MECHATROLINK Communication

6.4.3 Monitor 1/2 Type Field Specifications

6.4.3 Monitor 1/2 Type Field Specifications
6
The monitor 1/2 type, the thirteenth byte of the reference data field
1
Command
2 of commands, is reserved to select monitor data that will be returned.
3
Option
The following types of monitoring are available with the
4
SGD-jjjN.
5
6
D Appropriate commands for monitor 1/2 type
7
SMON, SV_ON, SV_OFF, INTERPOLATE, POSING, FEED,
8
ATCH, EX_POSING, ZRET
9
10
11
12
13 Monitor 1/2 type
14
15
16
WDT
The following table outlines the data (codes) and monitoring contents of monitor 1/2 type.
Name Code
POS 0
MPOS
1
PERR 2
APOS
3
LPOS 4
IPOS
5
TPOS
6
− 7
FSPD
8
CSPD 9
TSPD
A
TRQ B
−
C
− D
−
E
− F
Note 1. The minus (−) sign indicates unused bits. Do not use them.
2. Feed-back speed is approx. 20 [reference unit/s] (factory setting) and refer-
ence speed is a resolution of 500 [reference unit/s].
Description
Position in the reference coordinate system
Position in the mechanical coordinate system
Position error
Absolute position
Counter latch position
Internal position in the reference coordinate sys-
tem
Final target position
−
Feedback speed
Reference speed
Final target reference speed
Torque reference
−
−
−
−
6 -10
Units
Reference units
Reference units
Reference units
Reference units
Reference units
Reference units
Reference units
−
Reference units/s
Reference units/s
Reference units/s
Reference units
%
−
−
−