Io Monitor Field Specifications: Io_Mon - YASKAWA MECHATROLINK Sigma 2 Series User Manual

MONITOR1/2/3/4 Monitor Codes
Monitor Name
Codes*
0 POS Reference position in the reference coordinate sys-
tem (position after reference filter procedure)
1 MPOS Reference position in the mechanical coordinate
system
2 PERR Position error
3 APOS Feedback position in the mechanical coordinate
system
4 LPOS Feedback latch position in the mechanical coordi-
nate system
5 IPOS Reference position in the reference coordinate sys-
tem (position before reference filter procedure)
6 TPOS Target position in the reference coordinate system
7
8 FSPD
Feedback speed
9 CSPD Reference speed
A TSPD Target speed
B TRQ Torque reference (The rated torque is 100%.)
C
D
E OMN1
Option monitor 1 selected in Pn813.0
F OMN2 Option monitor 2 selected in Pn813.1
* Up to 4 monitor codes can be set to MONITOR 1 to 4.
4.5.5

IO Monitor Field Specifications: IO_MON

The IO monitor field specifications (IO_MON) can be designated using the following com-
mands:
SMON, SV_ON, SV_OFF, HOLD, INTERPOLATE, POSING, LATCH, EX_POSING,
ZRET, SENS_ON, SENS_OFF, BRK_ON, BRK_OFF
The IO monitor field is used to monitor the I/O signal status of the SERVOPACK, with the
fourteenth to fifteenth byte reserved area of the above main commands.
Description
4-59
4.5 Command Data Field
Unit
Reference units
Reference units
Reference units
Reference units
Reference units
Reference units
Reference units
Position/torque control: reference units/s
Speed control: Maximum speed /40000000H
Position/torque control: reference units/s
Speed control: Maximum speed /40000000H
Position/torque control: reference units/s
Speed control: Maximum speed /40000000H
Position/torque control: %
Speed control: Maximum torque /
40000000H
4