Denso SMT7 - Joint Parameter Configuration Commands; Single-Joint Servo Data Monitor Commands (Library)

Chapter 4 Configuring the Joint Parameters
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4.9 Joint Parameter Configuration Commands
4.9.1 Single-Joint Servo Data Monitor Commands (Library)
SetMonitorCond
Function
Sets the monitoring conditions for single-joint servo data monitor.
Syntax
SetMonitorCond(<JntNumber>,<MonitorData1>,<MonitorData2>,
<SampInterval>)
Description
SetMonitorCond sets the joint number to be monitored, monitor data (up to 2
types allowed per command), and sampling interval in ms as monitoring
conditions.
The following five types of data may be monitored, two types at a time, by
specifying <MonitorData1> and <MonitorData2>:
<MonitorData1> and
<MonitorData2>
Data to be monitored
0 Motor speed control value in rpm
1 Current motor speed (Actual speed) in rpm
2 Motor torque control value (excluding torque offset) in ratio
(%) to the rated value
3 Motor rotation angle error (Motor angle control value -
Actual motor angle value) in pulses
4 Motor current absolute value (Maximum value out of three
absolute values detected from all 3 phases of the motor.) in
ratio (%) to the rated value
<SampInterval> must be set in ms as an integer between 1 and 8.
Macro definition
Not needed.
Related commands
ClearSrvMonitor, StartSrvMonitor, and StopSrvMonitor
Notes
(1) If this library executes following the monitor start library
StartSrvMonitor, the error "6001: Not executable" will result. Be sure
to set the monitoring conditions before starting monitor.
(2) If any of the joint number, data types, and sampling interval entered is
wrong, the error message "The entered value is out of the range." will
result. Correct those monitoring conditions you entered.
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.