YASKAWA JEPMC-MP2300-Y Series User Manual page 458

7 Motion Commands
7.4.3 Monitor Status (SMON)
7.4.3 Monitor Status (SMON)
( 1 ) Executing/Operating Procedure
No.
1
7-100
The SMON command stores, the data specified in Monitor 4 of the Servo User Monitor is stored in
Servo User Monitor 4 (monitoring parameter IL
This command will end with a Command Error End if it is executed with a communication method
other than MECHATROLINK-II 32-byte Mode.
The following table shows the data that can be specified in the User Monitor.
Set Value Name
0 POS
1 MPOS
2 PERR
3 APOS
4 LPOS
5 IPOS
6 TPOS
7
－
8 FSPD
9 CSPD
A TSPD
B TRQ
C
－
D
－
E OMN1
F OMN2
Refer to your SERVOPACK's users manual for details on the monitored data.
1.
Check to see if all the following conditions are satisfied.
Execution Conditions
Motion subcommand execution has been completed.
2.
Set OW 0A to 3 to execute the SMON motion subcommand.
The SMON command will read the information managed by the Servo Driver and store the
code in the monitoring parameter.
IW 0A will be 3 during command execution.
IB 0B0 will turn ON during the command processing and will turn OFF when the com-
mand processing has been completed.
3.
Set OW 0A to 0 to execute the NOP motion command and then complete the
monitoring operation.
34).
Contents
Reference coordinate system's reference position (after reference
filter)
Machine coordinate system's reference position
Following error
Machine coordinate system's feedback position
Machine coordinate system's feedback latch position
Reference coordinate system's reference position (before
reference filter)
Reference coordinate system's target position
－
Feedback Speed
Reference speed
Target speed
Torque reference (Rated torque is 100%.)
－
－
Optional monitor 1 (Actual content set in parameters.)
Optional monitor 2 (Actual content set in parameters.)
IW 0A is 0 and IB
Confirmation Method
0B0 is OFF.