YASKAWA S-7 Series Command Manual page 179

Parameter
Size Name
No.
Fixed Monitor Selec-
4
tion 2
88
0000h to
PnB10
000Fh
SEL_MON (CMN1)
4
Monitor Selection 1
0000h
0001h
0002h
0003h
0004h
0005h
89
PnB12
0006h
0007h
0008h
0009h
Setting Unit
Setting Range
[Resolution]
0 to F
The settings are the same as those for Fixed Monitor Selection 1.
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
Monitor Description
Byte 1: Current communications phase
00h: Phase 0
01h: Phase 1
02h: Phase 2
03h: Phase 3
Byte 2: Current control mode
00h: Position control mode
01h: Speed control mode
02h: Torque control mode
Byte 3: Reserved
Byte 4: Expansion signal monitor
Bit Name Description
Latch detection pro-
cessing status spec-
Bit 0 LT_RDY1
ified by LT_REQ1 in
SVCMD_CTRL
Latch detection pro-
cessing status spec-
Bit 1 LT_RDY1
ified by LT_REQ2 in
SVCMD_CTRL
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
8.2 List of Common Parameters
Continued from previous page.
Default Applicable
Setting Motors
– 0 All
– 0 All
Value Setting
Latch detection not yet
0
processed.
Processing latch
1
detection in progress.
Latch detection not yet
0
processed.
Processing latch
1
detection in progress.
0 Phase C
1 External input signal 1
2 External input signal 2
3 External input signal 3
0 Phase C
1 External input signal 1
2 External input signal 2
3 External input signal 3
Continued on next page.
When Classi-
Enabled fication
Immedi-
ately
Immedi-
ately
8
8-7