YASKAWA SGD7S Product Manual page 523

Parameter
Size Name
No.
SEL_MON (CMN1)
4
Monitor Selection 1
0000 hex
0001 hex
0002 hex
0003 hex
0004 hex
0005 hex
89
PnB12
0006 hex
0007 hex
0008 hex
0009 hex
13.2 List of MECHATROLINK-III Common Parameters
13.2.2 List of MECHATROLINK-III Common Parameters
Setting Unit
Setting Range
[Resolution]
0 to 9
TPOS (target position in reference coordinate system)
IPOS (reference position in reference coordinate system)
POS_OFFSET (offset set in POS_SET (Set Coordinate System) command)
TSPD (target speed)
SPD_LIM (speed limit)
TRQ_LIM (torque limit)
SV_STAT (servo actual operating status)
Monitor Description
Byte 1: Current communications phase
00 hex: Phase 0
01 hex: Phase 1
02 hex: Phase 2
03 hex: Phase 3
Byte 2: Current control mode
00 hex: Position control mode
01 hex: Speed control mode
02 hex: Torque control mode
Byte 3: Reserved
Byte 4: Expansion signal monitor
Bit Name Description
Processing status for
latch detection for
Bit 0 LT_RDY1
LT_REQ1 in SVCM-
D_CTRL region
Processing status for
latch detection for
Bit 1 LT_RDY1
LT_REQ2 in SVCM-
D_CTRL region
Bits 2
LT_SEL1R Latch signal
and 3
Bits 4
LT_SEL2R Latch signal
and 5
Bit 6 Reserved (0).
Reserved.
Lower 32 bits of initial encoder position con-
INIT_PGPOS (Low)
verted to 64-bit position reference data
Upper 32 bits of initial encoder position con-
INIT_PGPOS (High)
verted to 64-bit position reference data
Continued from previous page.
Default Applicable
Setting Motors
– 0 All
Value Setting
Latch detection
0 not yet pro-
cessed.
Processing latch
1 detection in
progress.
Latch detection
0 not yet pro-
cessed.
Processing latch
1 detection in
progress.
0 Phase C
External input
1
signal 1
External input
2
signal 2
External input
3
signal 3
0 Phase C
External input
1
signal 1
External input
2
signal 2
External input
3
signal 3
Continued on next page.
When Classi-
Enabled fication
Immedi-
ately
13
13-51