YASKAWA E-V-MD Series - Page 307

11 Appendix
11.2.2 MECHATROLINK-III Common Parameters
11-24
89
PnB12
4
Monitor Selection for SEL_MON1
(CMN1)
0 to 6 –
0
Immedi-
ately
Command
Related
Parameters
0000H TPOS (Target position in the reference coordinates)
0001H IPOS (Reference position in the reference coordinates)
0002H
POS_OFSET (Offset value set in the set coordinates command
(POS_SET))
0003H TSPD (Target speed)
0004H SPD_LIM (Speed limit value)
0005H TRQ_LIM (Torque limit value)
0006H
SV_STAT
Monitor
Byte 1: Current communications phase
00H: Phase 0
01H: Phase 1
02H: Phase 2
03H: Phase 3
Byte 2: Current control mode
00H: Position control mode
01H: Speed control mode
02H: Torque control mode
Byte 3: Reserved
Byte 4: Expansion signal monitor
(cont’d)
Parameter
No.
Size Name Setting Range
Units
[Resolution]
Factory
Setting
When
Enabled
Classifica-
tion
Bit Name Contents Value Setting
Bit 0 LT_RDY1
Processing status
for latch detection
specified by SVC-
MD_CTRL,
LT_REQ1
0
Latch
detection not
processed
1
During latch
detection
processing
Bit 1 LT_RDY1
Processing status
for latch detection
specified by SVC-
MD_CTRL,
LT_REQ2
0
Latch
detection not
processed
1
During latch
detection
processing
Bit 2,
Bit 3
LT_S EL1R
Latch signal
0Phase C
1
External
input signal 1
2
External
input signal 2
3
External
input signal 3
Bit 4,
Bit 5
LT_S EL2R
Latch signal
0Phase C
1
External
input signal 1
2
External
input signal 2
3
External
input signal 3
Bit 6 Reserved (0)