Mitsubishi Electric MELSEC iQ-R16MTCPU - Page 178

176
5 FUNCTIONS USED WITH SSCNET COMMUNICATION
5.2 Optional Data Monitor Function
*1 Data with "Lower, Upper" in the address ID use lower word and upper word of 2 word data therefore two settings should be made. Be
sure to monitor the data in 2 words.
*2 Set an even number for the address ID of registered monitors.
*3 The "Cumulative current value", "Servo command value", and "Torque command" are all command values for the servo amplifier. All
other data types are servo amplifier monitor values (feedback).
*4 Position commands are in the command unit set at [Motion Control Parameter]  [Axis Setting Parameter]  "Fixed Parameter"  "Unit
setting".
*5 The speed will be the average of every 227[ms]. Use a servo amplifier version compatible with this monitor. The result will always be 0 if
monitoring is performed with an incompatible servo amplifier.
*6 In the servo amplifier for multiple axes, the measured value of whole unit is monitored. When these values set to each axis of MR-J4
multi-axis servo amplifier, the same value can be monitored in each axis. Use the monitored value of not each axis but each module to
calculate the module power consumption and unit integral power consumption of multiple modules.
*7 The servo amplifier command value is a command value for the servo amplifier. Coordinates differ from those for the Motion CPU, and
therefore the result will not be 0 even if the home position is set.
*8 The torque command is a command value for the servo amplifier. Torque command values are only valid in speed-torque control torque
control mode and continuous operation torque control mode. The previous value will remain for the torque command value when
restoring to position control from torque control, etc., however, it is not actually used.
Load side encoder information 1 [pulse] 2 2 0110H(lower),
0112H(upper)
Fully closed control or
synchronous encoder
via servo amplifier use
Load side encoder information 2  22 0114H(lower),
0116H(upper)
Z-phase counter [pulse] 2 2 00A8H(lower),
00AAH(upper)
Linear servo motor use
Servo motor thermistor temperature []11 00A4H
Torque equivalent to disturbance [0.1%] 1 1 0150H
Thrust equivalent to disturbance Linear servo motor use
Overload alarm margin [0.1%] 1 1 0154H
Excessive error alarm margin [16pulse] 1 1 0156H
Settling time [ms] 1 1 0158H
Overshoot amount [pulse] 1 1 015AH
Servo motor/load side position
deviation
[pulse] 2 2 015CH(lower),
015EH(upper)
Fully closed control
use
Servo motor/load side speed
deviation
[0.01r/min] 2 2 0160H(lower),
0162H(upper)
Servo command value
*3*7
[pulse] 2 0 
Torque command
*3*8
[0.1%] 1 0 
Pressure command  10  MR-J4-B-LL use
Load cell pressure  10 0300H
External encoder counter value [pulse] 2 2 7000H(lower),
7002H(upper)
Stepping driver use
Internal temperature of encoder []11 014EH Software version C4 or
later of MR-J4(W)-B
Analog monitor input 1  11 0302H MR-J4-B-LL use
Analog monitor input 2  11 0304H
Optional address of registered
monitor
 11 
Data type Unit Number
of
words
Number of
communication
data points
Servo amplifier Address
ID
*1*2
Remark
MR-
J3(W)-□B
MR-
J4(W)-□B