Chapter 4 Configuring the Joint Parameters
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StartSrvMonitor
Function
Starts monitoring single-joint servo data.
Syntax
StartSrvMonitor
Description
StartSrvMonitor fetches a maximum of 1250 samples of single-joint servo
data until StopSrvMonitor executes.
Macro definition
Not needed.
Related commands
ClearSrvMonitor, SetMonitorCond, and StopSrvMonitor
Notes
(1) If the total number of data samples monitored in a monitoring cycle is 1250
or less, all data may be monitored. If it exceeds 1250 samples, the last
1250 data samples before the end of the cycle may be monitored and
other data will be discarded.
(2) If any error occurs and the motor being monitored is turned OFF during
monitoring, then a maximum of 850 samples before the OFF and 400
samples after that may be monitored.
(3) No data may be monitored when the target motor is off. Execute this
command with the motor power on.
Example
CALL SetMonitorCond(7,0,3,4) 'For getting speed control value and
'motor angle error of J7 every 4 ms.
CALL StartSrvMonitor 'Start monitoring data.
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