Chapter 7 Motion Control Functions
Attribute of monitoring variables:
Attribute Explanation
B
Basic monitoring variable. Pressing UP/DOWN keys can change the status
shown on LED display.
Dn Decimal place display.
D1 indicates one decimal place, D2 indicates two decimal places.
Dec
Decimal display only. When pressing SET key on the keypad, the system
can not switch to hexadecimal display.
Hex
Hexadecimal display only. When pressing SET key on the keypad, the
system can not switch to decimal display.
Explanation of monitoring variables:
Code
Monitoring Variables /
Attribute
Explanation
000
(00h)
Feedback position
(PUU) B
Motor feedback – current position. Unit is user unit, PUU.
001
(01h)
Position command
(PUU) B
Position command – current position. Unit is user unit,
PUU.
PT mode: it indicates the pulse command received by
the servo drive.
PR mode: it indicates the absolute position command.
It is equal to the pulse number sent by the host
(external) controller.
002
(02h)
Position error (PUU) B
Position error counts between position command pulse
and feedback pulse. Unit is user unit, PUU.
003
(03h)
Feedback position
(pulse) B
Motor feedback – current position. Unit is encoder unit,
pulse.
004
(04h)
Position command
(pulse) B
Position command – current position. Unit is encoder
unit, pulse.
It is also the position command after electronic gear
ratio is set.
005
(05h)
Position error (pulse)
B
Position error counts between position command pulse
and feedback pulse. Unit is encoder unit, pulse.
006
(06h)
Input frequency of
pulse command B
Input frequency of pulse command received by the servo
drive.
Unit is Kpps. Applicable for PT and PR mode.
007
(07h)
Feedback speed
B D1 Dec
Actual motor speed. Unit is 0.1r/min.
The
low-pass filter function is used so the value is more
stable.
008
(08h)
Speed input command
(Analog)
B D2 Dec
Analog speed input command. Unit is 0.01Volt.
009
(09h)
Speed command
(Integrated) B
Integrated speed input command. Unit is 1r/min.
The command source may be from analog command /
internal parameter / position loop.
Revision January 2011 7-3
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