A-45
A-5MECHATROLINK-II Communication Commands
APPENDIX
- SV Series User’s Manual -
Data Field List
■Monitoring-related data fields
Data stored in MONITOR1/2/3/4 can be changed when the following values are set up in SEL_MON1/2/3/4.Settable
data and unit for stored value are as follows.
Data field
Data
length
Data
MONITOR1/2/3/4
(monitor)
4-byte
SEL_MON1/2/3/4
(monitored items
selection)
2-byte
SEL_MON1/2/3/4
Signal
name
Data stored in
MONITOR1/2/3/4
Unit
0H POS
Command coordinate command
position (behind command filter)
Command unit
1H MPOS Command position Command unit
2H PEER Position deviation Command unit
3H APOS Feedback position Command unit
4H LPOS Feedback latch position Command unit
5H IPOS
Command coordinate command
position
Command unit
6H TPOS Command coordinate target position Command unit
7H - - -
8H FSPD Feedback speed
When position/torque control: Command
unit/s
When speed control: max. speed/
40000000H
9H CSPD Command speed
Position control: Command unit/s
When speed control: max. speed/
40000000H
AH TSPD Target speed
Position control: Command unit/s
When speed control: max. speed/
40000000H
BH TRQ Torque command
When position/speed control: % (Rated
torque: 100%) When torque control: max.
torque/40000000H
CH - - -
DH - - -
EH OMN1 Optional monitor 1 -
FH OMN2 Optional monitor 2 -
31
0
MONITOR1/2/3/4
(Depending on the setting of SEL_MON1/2/3/4)
15
0
SEL_MON4
0H to FH
SEL_MON2
0H to FH
SEL_MON3
0H to FH
SEL_MON1
0H to FH
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