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7.1. General Operation and Function
7.1.18. Monitoring via RS-232C Communication
7.1.18. Monitoring via RS-232C Communication
l Several monitoring can be done via the RS-232Ccommunication.
Table 7-8: Monitor function by RS-232C communication command
Control
Input/Output
Pulse train input
counter
Current position
Position error
counter
Motor velocity
Torque /
Thermal loading
State of
automatic gain
switching
Setting of
parameters
Identification of
alarm
Contents of a
channel
State of program
execution
RS-232C
Item
command
IO
RP
TP
TE
TV
TT
TG
TS
TA
TC
DP
* Refer to "8. Glossary of Command and Parameter" for details of the RS-232C
communication command.
· Monitors state of control Input/Output (ON and OFF) of CN2
and CN5connectors.
· Monitors real time data in hardware counter of pulse train input.
· Reports real time readout of current position in the absolute
coordinate system.
· Monitors real time data of the position error counter.
· Monitors real time Motor velocity.
· Monitors the torque command and data of thermal loading in real
time.
· Monitors real time state of automatic gain switching function
between the VG and the VGL gains.
· Monitors settings of servo parameters and positioning
parameters.
· Identifies an alarm.
· Reads out the contents of a program channel.
· Checks changes in control Inputs/Outputs and history of program
execution.
— 7-28 —
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Description
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