5 MONITORING
5.5 Optional data monitor function [B]
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Load-side encoder information 2 The following values are displayed for each encoder connected to the load-side.
For a rotary servo motor, the cycle counter is displayed.
For an absolute position linear encoder, "0" is displayed.
For an incremental linear encoder, the Z-phase counter (distance from the linear encoder home position
(reference mark)) (32-bit data) is displayed after the Z-phase is passed. The value before the Z-phase is passed
is undefined.
For an A/B/Z-phase differential output linear encoder, the latched free-run counter is displayed when the Z-phase
is passed.
For an A/B/Z-phase differential output rotary encoder, the latched free-run counter is displayed when the Z-phase
is passed.
Speed feedback The speed of the servo motor is displayed.
Temperature of servo motor thermistor The thermistor temperature is displayed for the servo motor with a thermistor.
For the servo motors without a thermistor, "9999" is displayed.
For the servo motor with a thermistor, refer to the user's manual for the servo motor being used.
Z-phase counter The following values are displayed for each linear encoder connected to the servo motor-side.
For an absolute position linear encoder, "0" is displayed.
For an incremental linear encoder, the Z-phase counter (distance from the linear encoder home position
(reference mark)) (32-bit data) is displayed after the Z-phase is passed. The value before the Z-phase is passed
is undefined.
For an A/B/Z-phase differential output linear encoder, the Z-phase counter (distance from the linear encoder
home position (Z-phase)) (32-bit data) is displayed after the Z-phase is passed. Before the Z-phase is passed, a
free-run counter is displayed with the position where the power is turned on set as "0".
Unit power consumption The unit power consumption is displayed. The positive value is displayed in power running. The negative value is
displayed in regeneration.
Unit total power consumption The unit total power consumption is displayed.
Torque equivalent to disturbance The difference between the necessary torque and the actually required torque (torque current value) to drive the
servo motor is displayed as the torque equivalent to disturbance.
Instantaneous torque The instantaneous torque is displayed.
The rated torque is displayed as 100 %. The value of the generated torque is displayed in real time.
Overload alarm margin The margins for the alarm levels of [AL. 050 Overload 1] and [AL. 051 Overload 2] are displayed as a
percentage.
Excessive error alarm margin The margin for the excessive error alarm trigger level is displayed in the encoder pulse unit. The excessive error
alarm occurs when the margin is 0 pulse.
Settling time The period of time (settling time) from the completion of the command to INP (In-position) on is displayed.
Overshoot amount The overshoot amount during position mode is displayed in units of encoder pulses.
Motor/load side position deviation In the fully closed loop control mode, a deviation between the servo motor-side position and load-side position is
displayed. The number of pulses is displayed in the load-side encoder unit.
Motor/load side speed deviation In the fully closed loop control mode, a deviation between the servo motor-side speed and load-side speed is
displayed.
Internal temperature of encoder The internal temperature detected by the encoder is displayed.
For the linear servo motor, "9999" is displayed.
Machine diagnostic status The machine diagnostic status is displayed.
[Bit 0 to 3: Friction estimation status at forward rotation]
*1*2
0:Estimation in progress. (normal)
1:Estimation has finished. (normal)
2:The motor may have rotated/traveled more frequently in one direction than the other. (warning)
3:The servo motor speed may be too slow for friction estimation. (warning)
4:The change in the servo motor speed may be too small for friction estimation. (warning)
5:The acceleration/deceleration time constants may be too short for friction estimation. (warning)
6:The operation time may be insufficient. (warning)
[Bit 4 to 7: Friction estimation status at forward rotation]
*1*2
0:Estimation in progress. (normal)
1:Estimation has finished. (normal)
2:The motor may have rotated/traveled more frequently in one direction than the other. (warning)
3:The servo motor speed may be too slow for friction estimation. (warning)
4:The change in the servo motor speed may be too small for friction estimation. (warning)
5:The acceleration/deceleration time constants may be too short for friction estimation. (warning)
6:The operation time may be insufficient. (warning)
[Bit 8 to 11: Vibration estimation status]
0:Estimation in progress.
1:Estimation has finished.
[Bit 12 to 15: reserved]
Friction estimation value The friction value estimated by the machine diagnostic function is displayed.
Vibration estimation value The vibration value estimated by the machine diagnostic function is displayed.
Data type Description
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