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6 COMMUNICATION FUNCTIONS
6.7 Positioning Control Monitor Function
Speed monitor
By selecting "Target speed" for the display item at the MT Developer2 axis monitor screen, the command speed (displayed in
axis control units) specified with the program currently being used for positioning control can be monitored. Successive
command speed [pulse/s] can be monitored with "[Md.28] Command speed (R: D32024+48n, D32025+48n/Q: #8004+20n,
#8005+20n)". The following table shows whether the monitor speed can be displayed for each type of control.
: Display possible, : Display not possible, or not possible to update the display
*1 The speed (vector speed, reference axis speed, long-axis speed) specified in the program is displayed while executing interpolation
instructions. The same value displays for each axis.
*2 The speed specified at a midway point in continuous trajectory control is updated as the monitor screen command speed when
analyzing point data. Point data analysis is carried out prior to point switching, and therefore the monitor screen command speed is
updated prior to point switching.
*3 If the speed specified at speed change exceeds the speed limit value, the actual command speed limited by the speed limit value is
displayed.
*4 The speed limit value is stored during torque control.
The "[Md.28] Command speed (R: D32024+48n, D32025+48n/Q: #8004+20n, #8005+20n)" is calculated
based on the amount of change in the position command (pulse units) sent to the servo amplifier each
operation cycle. Consequently, there are times when the displayed speed for each operation cycle varies due
to speed conversion fraction processing.
Control details Target speed [Md.28] Command speed(R: D32024+48n, D32025+48n/
Q: #8004+20n, #8005+20n)
PTP (point to point) control
*1
Fixed-pitch feed
Speed control ()
Speed control ()
Speed/position switching control
Continuous trajectory control
*2
Fixed-pitch feed control
Speed control with fixed position stop
JOG operation
Manual pulse generator operation
Home position return
High-speed oscillation
Synchronous control output axis
Speed change (CHGV command, M(P).CHGV command,
D(P).CHGV command)
*3
Speed-torque control
*4
G-code control
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