YASKAWA DX200 Instructions Manual page 17

165467-1CD
Pendant Oscilloscope
Function
2 Setting and Operation for Data Measurement
2.3 Setting Measurement Conditions
 Target
Requires setting for each channel, where the setting of output signal
type is available.
Servo: Enables to select the servo CPU signals at the option .
I/O signal: Enables to input the concurrent I/O signal at the option .
Register: Enables to input the register number at the option .
 Signal selection
Requires setting for each channel.
When {Servo} is selected at the option : Select speed reference,
speed feedback, or torque reference.
When {I/O signal} is selected at the option : Input signal number of
concurrent I/O. For the details of concurrent I/O, refer to "DX200
Concurrent I/O Instruction Manual (165294-1CD)."
Requirements on Concurrent I/O Signal
The concurrent I/O signal is updated in every 4.0 [ms].
Whereas when the PP oscilloscope allows the setting of
sampling time as 8.0 [ms] or more, the measurement data
has a delay time up to as long as that of the sampling time.
NOTE
Even when the sampling time is 4.0 [ms], the signal turning
ON/OFF only for 4.0 [ms] may have data skipped; ensure to
keep the time interval of 20 [ms] or more between the signal
ON and OFF for the measurement target of concurrent I/O
signal.
When {Register} is selected at the option : Input register number.
Input the numerical value between M000 and M999.
 Axis selection
Set the target axis for data acquisition. (Only when Servo is selected at
option  Target)
One servo board (SRDA-EAXA21A) can connect up to 9 motors.
Furthermore, up to 8 servo boards can be connected to a system. This
means that the maximum axis configuration on a system allows
simultaneous connection of 72 axes of motors.
The PP oscilloscope specifies the measurement target axis by the
unique number of physical connection among these 72 axes. This is
called as "physical axis connection".
Under the basic system configuration of a servo board, the physical
axes 1 to 6 are occupied by robot axis, and external axes are
connected to the physical axes 7, 8, and 9. When every servo board is
added, the number of physical axis is represented by offsetting each
+9. This relationship is shown in the following table Table 2-1:
Table 2-1: Relationship between the number of servo board and the
physical axis number (Sheet 1 of 2)
No. of servo board
SV#1
SV#2
SV#3
2-5
Physical axis number of the board
1 to 9
10 to 18
19 to 27
HW1481803
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