NSK EDD Megatorque Motor - RS-232 C;USB Monitor

7. Operational Function
— 7-25 —
7.3. RS-232C/USB Monitor
 Various types of monitors are available via RS-232C or USB communication.
Table 7-29: RS-232C monitors
Name (code)
Function
Data range
*
Unit
IO0 to IO3
Monitors the state of control inputs and outputs
of the CN2 connector.
Reads out condition of the CN2 signal
ports. (ON and OFF, or open and
closed)
–
F**
Monitors the state of inputs and outputs of the
CN2 connector by function group.
0: Inactive (not instructed)
1: Active (instructed)
–
TS0 to TS12
Reads out setting value.
Reads out the parameters by a function
group.
–
TA
Identifies current alarm.
Reports alarms currently detected.
–
* TA/HI
Reads out the alarm history.
Reads out recent 32 alarms that have
been reported.
–
?TA
Reads out currently occurring alarms at once.
Reads out all alarms currently reported.
–
RP
Monitors the number of inputted pulses.
– 2 147 483 648 to 2 147 483 647
count
FK
Reads out the number of position feedback
signals.
– 2 147 483 648 to 2 147 483 647
count
TRC
Reads out transient position command
0.000 to ± 10.000
s
-1
TV
Reads out current velocity
0.00 to ± 0.000
TE
Reads out position error.
0 to ± 2 621 439
pulse
TXT
Reports a positioning time.
0.0 to 214 641 044.2
ms
TST
Reports a settling time.
0.0 to 214 641 044.2
TP
Monitors current position in units of pulse.
0 to 2 621 439
pulse
TPC
Reports commanded position in units of pulse.
0 to 2 621 439
TD
Monitors current position in units of 0.01 angle
degree.
0 to 35 999
0.01°
TDC
Reports commanded position in units of 0.01
angle degree.
0 to 35 999
TQ
Monitor current position in user units.
0 to QR-1
360°/Parameter QR
TQC
Reports commanded position in user units.
0 to QR-1
TN
Monitors current position in units of circular
resolution.
0 to CR-1
360°/Parameter QR
TNC
Monitors commanded position in units of
circular resolution.
0 to CR-1
TG
Reports the gain switching condition.
0: Using the gain for gain switching.
(Parameter PGL and VGL)
1: Using the usual gain.
(Parameter PG and VG)
–
TT
Reads out the torque command.
0.00 to ±100.00
%
TJ
Monitor the thermal loading.
0.00 to 100.00
Warning A3 (software thermal) arises
when the value is greater or equal to
100%.
%
*USB communication allows as many as 10 alarms to be read out.