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12 DATA USED FOR POSITIONING CONTROL
12.1 Types of Data
■Monitoring the state
Monitor details Corresponding item
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 valid M codes [Md.25] Valid M code
Monitor the axis operation state [Md.26] Axis operation status
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 the external input/output signal and flag [Md.30] External input signal
[Md.31] Status
Monitor the movement amount from near-point dog ON to machine home position return completion. [Md.34] Movement amount after near-point
dog ON
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 "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 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 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 "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 block No. [Md.45] Block No. being executed
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 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 carrying over movement amount which exceeds "[Pr.123] Manual pulse generator speed limit
value".
[Md.62] Amount of the manual pulser driving
carrying over movement
Monitor the distance that travels to zero point after stop once at home position return. [Md.100] Home position return re-travel value
Monitor the command torque at torque control mode or continuous operation to torque control mode in the
speed-torque control.
[Md.123] Torque during command
Monitor the switching status of control mode. [Md.124] Control mode switching status
Monitor the positioning data analysis status. [Md.503] Pre-reading data analysis status
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