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14.5.1. Position (ABS)
Data concerning the position of each axis motor can be monitored.
The following data can be monitored.
- Position feedback
Current motor rotation position is displayed by the pulse value of the encoder.
- Position in 1 rotation
Present single motor rotation position of the encoder is displayed.
(It is not displayed in the CR800/750/700 series controller. It is always 0.)
- Fdt command
The amount of the change of the position command between the control cycles is shown.
(It is not displayed in the CR800/750/700 series controller. It is always 0.)
- Position droop
The amount of deflection at the motor rotation position relative to the position command is shown.
- Max. position droop
The maximum value of position droop after robot controller’s power supply is turned on is displayed.
- Position command
The command of the motor rotation position for the servo is displayed by the pulse value.
Click the [Reset] button to reset all Servo Monitors.
Figure 14-50 Servo monitor - ABS
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