Monitor 1/2 Type Field Specifications - YASKAWA SGM 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 Monitor 1/2 type
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
IPOS
TPOS
−
FSPD
CSPD
TSPD
TRQ
−
−
−
−
Note 1. The 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
of commands, is reserved to select monitor data that will be re-
turned.
The following types of monitoring are available with the
SGDB-jjjN.
D Appropriate commands for monitor 1/2 type
SMON, SV_ON, SV_OFF, INTERPOLATE, POSING, FEED,
LATCH, EX_POSING, ZRET
Code
0 Position in the reference coordinate system
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
6 Final target position
7 −
8 Feedback speed
9 Reference speed
A Final target reference speed
B Torque reference
C −
D −
E −
F −
6 -9
6.4 Special Descriptions
Description Units
Reference units
Reference units
6
Reference units
Reference units
Reference units
Reference units
Reference units
−
Reference units/s
Reference units/s
Reference units/s
Reference units
%
−
−
−