Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands - Manual (Page 126)

7.1 Main Command Data Field
7-7
7
Data Field
7.1.4 Monitor Information Field Specifications: MONITOR 1/2/3/4
The monitor information (MONITOR 1/2/3/4)field is used to monitor information selected by the monitor
codes in the monitor selection field.
„ 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
The MONITOR 1/2/3/4 monitor codes are listed below.
Monitor
Code
Name Description Unit
0 POS
Reference position in reference coordinate system
(position after reference filtering)
Reference unit
1 MPOS Reference position Reference unit
2 PERR Position error Reference unit
3 APOS Feedback position in machine coordinate system Reference unit
4 LPOS
Feedback latch position in machine coordinate
system
Reference unit
5 IPOS
Reference position in reference coordinate system
(position before reference filtering)
Reference unit
6 TPOS Target position in reference coordinate system Reference unit
7 – – –
8 FSPD Feedback speed
Position/torque (force) control: reference
units/s
Speed control: Maximum speed/
40000000H
9 CSPD Reference speed
Position control: Reference units/s
Speed control: Maximum speed/
40000000H
A TSPD Target speed
Position control: Reference units/s
Speed control: Maximum speed/
40000000H
B TRQ
Torque (force) reference (The rated torque is
100%.)
Position/speed control:
% (The rated torque is 100%.)
Torque (force) control: Maximum torque
(force)/40000000H
C – – –
D – – –
E OMN1 Option monitor 1 selected in Pn824 –
F OMN2 Option monitor 2 selected in Pn825 –