Denso SMT7 - Page 83

Chapter 4 Configuring the Joint Parameters
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4.7.2.2 Monitor of single-joint servo data
This function allows you to monitor a specified joint servo data currently set in the
controller with graphs in real-time.
(1) Monitoring capability
This function is capable of handling up to 1,250 samples of data at once. If the
sampling interval is set to 1ms, then you may monitor the servo data for 1.25
seconds. If 8ms, you may monitor it for 10 seconds.
The following five types of data may be monitored, two types at a time:
1) Motor speed control value (rpm)
Shows the sampled control value of motor speed.
2) Current motor speed (rpm)
Shows the sampled current motor speed.
3) Motor angle deviation (pulse)
Shows the deviation between the actual motor angle and motor control angle.
4) Torque control value (%)
Shows the substantial torque control value; that is, (Torque control value – the
Torque offset value). The unit is a ratio to the rated motor torque (%).
5) Motor current (%)
Shows the currently maximal motor drive current between the 3-phase driving
lines.
The unit is a ratio to the motor rated current.
(2) Defining the monitoring terms
To define the monitoring terms, call the single-joint servo data monitor definition
library SetMonitorCond in your program. For details, refer to
"SetMonitorCond" in Section 4.9.
Once monitoring starts, the monitoring terms already defined cannot be changed
until the monitoring cycle has completed. Define all necessary monitoring terms
before starting a monitoring cycle.
(3) Starting and stopping the monitoring cycle
To start monitoring, run the library StartSrvMonitor. To end it, run the library
StopSrvMonitor. To clear the data collected in the monitoring cycle, run the
library ClearSrvMonitor. For details, refer to StartSrvMonitor,
StopSrvMonitor, and ClearSrvMonitor in Section 4.9.
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.
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.