YASKAWA SGD7S series Product Manual page 262

10.2 List of MECHATROLINK-III Common Parameters
10.2.2 List of MECHATROLINK-III Common Parameters
Parameter
No.
89
PnB12
10-52
Size Name
SEL_MON (CMN1)
4
Monitor Selection 1
0000 hex TPOS (target position in reference coordinate system)
0001 hex IPOS (reference position in reference coordinate system)
0002 hex POS_OFFSET (offset set in POS_SET (Set Coordinate System) command)
0003 hex TSPD (target speed)
0004 hex SPD_LIM (speed limit)
0005 hex 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
Bit 0
0006 hex
Bit 1
Bits 2
and 3
Bits 4
and 5
Bit 6
0007 hex Reserved.
0008 hex INIT_PGPOS (Low)
0009 hex INIT_PGPOS (High)
Setting Unit
Setting Range
[Resolution]
0 to 9 –
Name Description
Processing status for
latch detection for
LT_RDY1
LT_REQ1 in SVCM-
D_CTRL region
Processing status for
latch detection for
LT_RDY1
LT_REQ2 in SVCM-
D_CTRL region
LT_SEL1R Latch signal
LT_SEL2R Latch signal
Reserved (0).
Lower 32 bits of initial encoder position con-
verted to 64-bit position reference data
Upper 32 bits of initial encoder position con-
verted to 64-bit position reference data
Continued from previous page.
Default Applicable When
Setting Motors Enabled
Immedi-
0 All
ately
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.
Classi-
fication