Servo Status Monitor Command (Smon: 30H) - YASKAWA S-7 Series Command Manual

3.2 Servo Commands

3.2.6 Servo Status Monitor Command (SMON: 30h)

3.2.6

Servo Status Monitor Command (SMON: 30h)

Data Format
Phases in which the
Command can be Executed
Processing Time
Byte
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
3-32
2, 3
Within
communication
cycle
SMON
Command Response
30h 30h
WDT RWDT
CMD_CTRL CMD_STAT
SVCMD_CTRL SVCMD_STAT
SVCMD_IO SVCMD_IO
CPRM_SEL_
MON1
CPRM_SEL_
MON2
Reserved MONITOR1
MONITOR2
MONITOR3
Command Servo standard
command
Classification
Subcommand
Description
• The SMON command reads the alarms, status, and
monitor information (position, speed, output, torque,
etc.) specified in monitor setting, and the state of the I/
O signals of the servo drive.
• Confirm the completion of the command execution by
checking that RCMD = SMON (= 30h) and
CMD_STAT.CMDRDY = 1.
• CPRM_SEL_MON1/CPRM_SEL_MON2:
Monitor data can be selected by changing the common
parameter setting. Refer to the following chapter for
details.
Chapter 8 Common Parameters.
Asynchronous
command
Can be used