YASKAWA Sigma-7 Series Product Manual page 203

7.3 List of MECHATROLINK-III Common Parameters
Parameter
No.
88
PnB10
89
PnB12
7-60
Size Name
4 Monitor Select 2
0000h to
The settings are the same as those for Fixed Monitor Selection 1.
000Fh
Monitor Select for
4
SEL_MON1
0000h TPOS (target position in reference coordinate system)
0001h IPOS (reference position in reference coordinate system)
0002h POS_OFFSET (offset set in POS_SET (Set Coordinate System) command)
0003h TSPD (target speed)
0004h SPD_LIM (speed limit)
0005h TRQ_LIM (torque limit)
SV_STAT (servo actual operating status)
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
Bit 0
0006h
Bit 1
Bits 2
and 3
Bits 4
and 5
Bit 6
0007h Reserved.
0008h INIT_PGPOS (Low)
0009h INIT_PGPOS (High)
Setting Unit
Setting Range
[Resolution]
0h to Fh –
0h to 9h –
Name Description
Processing status for
latch detection for
LT_RDY1
LT_REQ1 in SVCM-
D_CTRL region
Processing status for
latch detection for
LT_RDY1
LT_REQ2 in SVCM-
D_CTRL region
LT_SEL1R Latch signal
LT_SEL2R Latch signal
Reserved (0).
Lower 32 bits of initial encoder position con-
verted to 64-bit position reference data
Upper 32 bits of initial encoder position con-
verted to 64-bit position reference data
Continued from previous page.
Default Applicable When
Setting Motors Enabled
Immedi-
0h All
ately
Immedi-
0h All
ately
Value Setting
Latch detection
0 not yet pro-
cessed.
Processing latch
1 detection in
progress.
Latch detection
0 not yet pro-
cessed.
Processing latch
1 detection in
progress.
0 Phase C
External input
1
signal 1
External input
2
signal 2
External input
3
signal 3
0 Phase C
External input
1
signal 1
External input
2
signal 2
External input
3
signal 3
Continued on next page.
Classi-
fication