Omron SJDE-ANA-OY - Monitor Selection and Monitor Information Field Specifications; Sel_Mon1;2;3;4, Monitor1;2;3;4

4.5 Command Data Field
101
4.5.4 Monitor Selection and Monitor Information Field Specifications:
SEL_MON1/2/3/4, MONITOR1/2/3/4
The monitor selection and monitor information field specifications (SEL_MON
*
, MONITOR
*
) can be
designated using the following main commands:
SV_ON, SV_OFF, HOLD, INTERPOLATE, POSING, FEED, LATCH, EX_POSING, ZRET, SMON,
SENS_ON, SENS_OFF, BRK_ON, BRK_OFF, LTMOD-ON, LTMOD-OFF
The monitor selection and monitor information field is used to select the Servo monitor information and
monitor it, with the thirteenth byte of the above main commands, or the twenty-seventh byte reserved
area of the subcommands.
 SEL_MON1/2/3/4 Field
 MONITOR1/2/3/4 Monitor Codes
* For the items to be monitored for the SEL_MON commands (1 to 4), assign their monitor codes to the parame-
ter.
D7 D6 D5 D4 D3 D2 D1 D0
SEL_MON2 SEL_MON1
D7 D6 D5 D4 D3 D2 D1 D0
SEL_MON4 SEL_MON3
Monitor
Codes*
Name Description Unit
0 POS Reference position (position after refer-
ence filter procedure)
Reference units
1 MPOS Reference position Reference units
2 PERR Position error Reference units
3 APOS Feedback position Reference units
4 LPOS Feedback latch position Reference units
5 IPOS Reference position (position before refer-
ence filter procedure)
Reference units
6 TPOS Target position Reference units
7
−− −
8 FSPD Feedback speed Reference units/s
9 CSPD Reference speed Reference units/s
A TSPD Target speed Reference units/s
B TRQ Torque reference (The rated torque is
100%.)
%
C −
−−
D −
−−
E −
−−
F −
−−
TOEP_C710806_03A_1_0.book Seite 101 Montag, 2. Juli 2007 3:55 15