Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 113)

5 Command Related Parameters
5.2.7 STATUS Field and Monitor Related Settings
5-24
(3) Option Monitor Setting
Set the contents to be monitored when Option Monitor 1 and Option Monitor 2 are selected for MONITOR 1/
2/3/4.
∗ Can only be set for Σ-V Series SERVOPACKs model SGDV-††††††B.
Parameter
No.
Name Remarks
Pn824
Option Monitor 1 Selection –
0000H Motor rotation speed [1000000H/OS] –
0001H Speed reference [1000000H/OS] –
0002H Torque (Force) [1000000H/max. torque (force)] –
0003H Position error (lowermost 32 bits) [reference unit] –
0004H Position error (uppermost 32 bits) [reference unit] –
0005H System reserved –
0006H System reserved –
000AH Encoder count (lowermost 32 bits) [reference unit] –
000BH Encoder count (uppermost 32 bits) [reference unit] –
000CH
External encoder count (lowermost 32 bits) [reference
unit]
For fully-closed loop control
000DH External encoder count (uppermost 32 bits) [reference
unit]
For fully-closed loop control
0010H Un000: Motor rotation speed [min -1 ] –
0011H Un001: Speed reference [min -1 ] –
0012H Un002: Torque (Force) reference [%] –
0013H Un003: Rotation angle 1 [pulse] –
0014H Un004: Rotation angle 2 [degree] –
0015H Un005: Input signal monitor –
0016H Un006: Output signal monitor –
0017H Un007: Input position reference speed [min -1 ] –
0018H Un008: Position error [reference unit] –
0019H Un009: Accumulated load ratio [%] –
001AH Un00A: Regenerative load ratio [%] –
001BH Un00B: DB resistance consumption power [%] –
001CH Un00C: Input reference pulse [reference unit] –
001DH Un00D: Feedback pulse [pulse] –
001EH Un00E: Fully-closed loop feedback pulse [pulse] For fully-closed loop control
0023H Initial multiturn data [rev] For rotational servomotors
0024H Initial incremental pulse For rotational servomotors
0025H Initial absolute position data lowermost 32 bits [pulse] For linear servomotors
0026H Initial absolute position data uppermost 32 bits [pulse] For linear servomotors
0027H * Un022: Installation environment monitor [%] –
0080H Previous value of latched feedback position (LPOS) –
Others Reserved parameters (Do not use.) –
Pn825 Option Monitor 2 Selection (Same as for Pn824) –