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7.3. RS-232C Monitor
Various types of monitors are available via RS-232C communication.
Table7-29: 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
TV
Reads out current velocity 0.00 to ± 0.000
s
-1
TE
Reads out position error. 0 to ± 2 621 439 pulse
TXT
Reports a positioning time. 0.0 to 214 641 044.2
TST
Reports a settling time. 0.0 to 214 641 044.2
ms
TP
Monitors current position in units of pulse. 0 to 2 621 439
TPC
Reports commanded position in units of
pulse.
0 to 2 621 439
pulse
TD
Monitors current position in units of 0.01
angle degree.
0 to 35 999
TDC
Reports commanded position in units of
0.01 angle degree.
0 to 35 999
0.01°
TQ
Monitor current position in user units. 0 to QR-1
TQC
Reports commanded position in user units. 0 to QR-1
360°/Parameter QR
TN
Monitors current position in units of
circular resolution.
0 to CR-1
TNC
Monitors commanded position in units of
circular resolution.
0 to CR-1
360°/Parameter QR
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%.
%
* The range may contain typical values.
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