1) applicable commands, 2) setting method – Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands User Manual
Page 125
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7 Data Field
7.1.3 Monitor Selection Field Specifications: SEL_MON1/2/3/4
7-6
7.1.3 Monitor Selection Field Specifications: SEL_MON1/2/3/4
The monitor selection (SEL_MON1/2/3/4) field is used to select the Servo monitor information.
(1) Applicable Commands
SV_ON, SV_OFF, HOLD, INTERPOLATE, POSING, FEED, LATCH, EX_POSING, ZRET, VELCTRL,
TRQCTRL, SMON, SENS_ON, SENS_OFF, BRK_ON, BRK_OFF, LTMOD_ON, LTMOD_OFF
(2) Setting Method
Set MONITOR 1/2/3/4 monitor codes in SEL_MON1/2/3/4 allocated in the thirteenth byte of the main com-
mand or in the reserved area of the nineteenth byte of the subcommand.
SEL_MON1/2/3/4 allocation is shown below.
D7
D6
D5
D4
D3
D2
D1
D0
SEL_MON2
SEL_MON1
D7
D6
D5
D4
D3
D2
D1
D0
SEL_MON4
SEL_MON3
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