YASKAWA E-V-MD Series User Manual page 307

11 Appendix
11.2.2 MECHATROLINK-III Common Parameters
Parameter
Size
No.
Monitor Selection for SEL_MON1
(CMN1)
0000H
0001H
0002H
0003H
0004H
0005H
89
4
PnB12
0006H
11-24
Name Setting Range
TPOS (Target position in the reference coordinates)
IPOS (Reference position in the reference coordinates)
POS_OFSET (Offset value set in the set coordinates command
(POS_SET))
TSPD (Target speed)
SPD_LIM (Speed limit value)
TRQ_LIM (Torque limit value)
SV_STAT
Monitor
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 Name Contents
Processing status
for latch detection
Bit 0 LT_RDY1 specified by SVC-
MD_CTRL,
LT_REQ1
Processing status
for latch detection
Bit 1 LT_RDY1 specified by SVC-
MD_CTRL,
LT_REQ2
Bit 2,
LT_SEL1R Latch signal
Bit 3
Bit 4,
LT_SEL2R Latch signal
Bit 5
Bit 6 Reserved (0)
Units
[Resolution]
0 to 6 –
Value Setting
Latch
0 detection not
processed
During latch
1 detection
processing
Latch
0 detection not
processed
During latch
1 detection
processing
0 Phase C
External
1
input signal 1
External
2
input signal 2
External
3
input signal 3
0 Phase C
External
1
input signal 1
External
2
input signal 2
External
3
input signal 3
(cont'd)
Factory When Classifica-
Setting Enabled
Command
Immedi-
0 Related
ately
Parameters
tion