Monitor 1/2 Type Field Specifications - YASKAWA S Series User Manual

6.4.3 Monitor 1/2 Type Field Specifications

1 Command
2
3
Option
4
5
6
7
8
9
10
11
12
13
14
15
16
WDT
The following table outlines the data (codes) and monitoring contests of monitor 1/2 type.
Name
POS
MPOS
PERR
APOS
LPOS
I P OS
TPOS
—
FSPD
CSPD
TSPD
TRO
—
—
-
-
Note 1. T h e minus (—) sign indicates unused bits. Do not use them.
2. Feedback speed is approx. 20 [reference unit/s] (factory setting) and refer-
ence speed is a resolution of 500 [reference unit/s].
The monitor 1/2 type, the thirteenth byte of the reference data field
o f commands, is reserved to select monitor data that w i l l be re-
turned.
The f o l l o w i n g types o f m o n i t o r i n g are a v a i l a b l e w i t h t h e
SGDB-1110 ON.
• Appropriate commands for monitor 1/2 type
SMON, S V _ O N , S V _ O F F, I N T E R P O L AT E , P O S I N G ,
FEED, L A T C H , E X _ P O S I N G , Z R E T
Code
Position in the reference coordinate system
0
1 Position in the mechanical coordinate system
2 Position error
3 Absolute position
4 Counter latch position
5 Internal position in the reference coordinate
system
Final target position
6
7 —
8 Feedback speed
9 Reference speed
A Final target reference speed
B
Torque reference
C —
D —
E —
F —
6.4 Special Descriptions
Description
Reference units
Reference units
Reference units
Reference units
Reference units
Units
Reference units
Reference units
—
Reference units/s
Reference units/s
Reference units/s
Reference units
%
-
-
—