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Chapter 5 Data Used for Positioning Control
Monitoring the state
Monitor details Corresponding item
Monitor the axis operation state.
[Md.26]
Axis operation status
Monitor the latest error code that occurred with the axis.
[Md.23]
Axis error No.
Monitor the latest warning code that occurred with the axis.
[Md.24]
Axis warning No.
Monitor the external input/output signal and flag.
[Md.30]
External input signal
[Md.31]
Status
Monitor the valid M codes.
[Md.25]
Valid M code
Monitor whether the speed is being limited.
[Md.39]
In speed limit flag
Monitor whether the speed is being changed.
[Md.40]
In speed change processing flag
Monitor the "start data" point currently being executed.
[Md.43]
Start data pointer being executed
Monitor the "positioning data No." currently being executed.
[Md.44]
Positioning data No. being executed
Monitor the remaining number of repetitions (special start).
[Md.41]
Special start repetition counter
Monitor the remaining number of repetitions (control system).
[Md.42]
Control system repetition counter
Monitor the block No.
[Md.45]
Block No. being executed
Monitor the current torque limit value.
[Md.35]
Torque limit stored value/forward torque
limit stored value
[Md.120]
Reverse torque limit stored value
Monitor the command torque at torque control mode in the speed-
torque control.
[Md.123]
Torque during command
Monitor the "instruction code" of the special start data when using
special start.
[Md.36]
Special start data instruction code
setting value
Monitor the "instruction parameter" of the special start data when
using special start.
[Md.37]
Special start data instruction parameter
setting value
Monitor the "start data No." of the special start data when using
special start.
[Md.38]
Start positioning data No. setting value
Monitor the "positioning data No." executed last.
[Md.46]
Last executed positioning data No.
Monitor the positioning data currently being executed.
[Md.47]
Positioning data being executed
Monitor the movement amount after the current position control
switching when using "speed-position switching control".
[Md.29]
Speed-position switching control
positioning movement amount
Monitor switching from the constant speed status or acceleration
status to the deceleration status during position control whose
operation pattern is "Positioning complete".
[Md.48]
Deceleration start flag
Monitor the movement amount from proximity dog ON to machine
HPR completion.
[Md.34]
Movement amount after proximity dog
ON [RJ010 mode]
Monitor the distance that travels to zero point after stop once at
HPR.
[Md.100]
HPR re-travel value [RJ010 mode]
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