Specifying Monitor Data - YASKAWA S-7 Series Command Manual

2.7 Command Data

2.7.3 Specifying Monitor Data

Torque
The following units can be selected.
Settings are made with common parameters 47 and 48.
% of rated torque (default)
Max. torque/40000000 (h)
2.7.3 Specifying Monitor Data
The master station sets the selection code of the monitor data to be read from a slave station
at monitor selection bits SEL_MON1 to 3 in the servo command control field (SVCMD_CTRL)
and at monitor selection bits SEL_MON4 to 6 in the subcommand control field (SUB_CTRL).
The slave station sets the specified monitor selection code and the monitor data in the
response.
The following table lists the monitor data.
Selection
Code
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
2-28
Unit
Monitor
Description
Name
APOS Feedback Position
CPOS Command Position
PERR Position Error
LPOS1 Latched Position 1
LPOS2 Latched Position 2
FSPD Feedback Speed
CSPD Reference Speed
TRQ Reference Torque
Detailed Information on
ALARM
the Current Alarm
MPOS Command Position
– Reserved
– Reserved
CMN1 Common Monitor 1
CMN2 Common Monitor 2
OMN1 Optional Monitor 1
OMN2 Optional Monitor 2
×10
n
[%] can be set.
Set "0" for common parameter 48.
–
–
Valid only when performing position control
–
–
–
–
–
When an alarm has occurred after the occurrence of a
warning, the information on the alarm is displayed.
Input reference position in a position control loop
MPOS = APOS + PERR
–
–
Selects the monitor data specified at common param-
eter 89.
Selects the monitor data specified at common param-
eter 8A.
Selects the monitor data specified at parameter
Pn824.
Selects the monitor data specified at parameter
Pn825.
Remark
Remark