Monitoring - YASKAWA Sigma-7-Series Product Manual

4.2 Setup Procedure

4.2.6 Monitoring

4.2.6

Monitoring

Monitoring with Servo Commands
The monitor data, which is output within the range of the rotational coordinate system (Pn87A
to Pn87C), are listed below.
Refer to the following manual for servo command details.
Σ
-7-Series MECHATROLINK-III Communications Standard Servo Profile Command Manual (Manual No.: SIEP
S800001 31)
Monitor Name
APOS
CPOS
LPOS1
LPOS2
MPOS
TPOS
IPOS
POS_OFSET
Previous value
of LPOS1
Previous value
of LPOS2
4-12
Monitor Data
Specification Method
SEL_MON1 to
SEL_MON6
Fixed Monitor 1 (PnB0E)
Fixed Monitor 2 (PnB10)
SEL_MON1 to
SEL_MON6
Fixed Monitor 1 (PnB0E)
Fixed Monitor 2 (PnB10)
SEL_MON1 to
SEL_MON6
Fixed Monitor 1 (PnB0E)
Fixed Monitor 2 (PnB10)
SEL_MON1 to
SEL_MON6
Fixed Monitor 1 (PnB0E)
Fixed Monitor 2 (PnB10)
SEL_MON1 to
SEL_MON6
Fixed Monitor 1 (PnB0E)
Fixed Monitor 2 (PnB10)
Common Monitor 1
(PnB12)
Common Monitor 2
(PnB14)
Common Monitor 1
(PnB12)
Common Monitor 2
(PnB14)
Common Monitor 1
(PnB12)
Common Monitor 2
(PnB14)
Option Monitor 1 (Pn824)
Optional Monitor 2
(Pn825)
Option Monitor 1 (Pn824)
Optional Monitor 2
(Pn825)
Setting
Selected code
= 0
Feedback position
0000h
0000h
Selected code
= 1
Command position after refer-
0001h ence filter
0001h
Selected code
= 3
Latched position 1
0003h
0003h
Selected code
= 4
Latched position 2
0004h
0004h
Selected code
Command position (Input refer-
= 9
ence position for the position
0009h loop MPOS = APOS + position
deviation)
0009h
0000h
Target position in the reference
coordinate system
0000h
0001h
Command position before refer-
ence filter
0001h
0002h
Offset value set with the
POS_SET command
0002h
0080h
Previous value of latched posi-
tion 1
0080h
0081h
Previous value of latched posi-
tion 2
0081h
Description
1 refer-
ence unit
1 refer-
ence unit
1 refer-
ence unit
1 refer-
ence unit
1 refer-
ence unit
1 refer-
ence unit
1 refer-
ence unit
1 refer-
ence unit
1 refer-
ence unit
1 refer-
ence unit
Unit