7
Motion Commands
7.4.3
Monitor Status (SMON)
7-100
7.4.3 Monitor Status (SMON)
The SMON command stores, the data specified in Monitor 4 of the Servo User Monitor is stored in
Servo User Monitor 4 (monitoring parameter IL
34).
This command will end with a Command Error End if it is executed with a communication method
other than MECHATROLINK-II 32-byte Mode.
The following table shows the data that can be specified in the User Monitor.
Refer to your SERVOPACK’s users manual for details on the monitored data.
( 1 ) Executing/Operating Procedure
1.
Check to see if all the following conditions are satisfied.
2.
Set OW
0A to 3 to execute the SMON motion subcommand.
The SMON command will read the information managed by the Servo Driver and store the
code in the monitoring parameter.
IW
0A will be 3 during command execution.
IB
0B0 will turn ON during the command processing and will turn OFF when the com-
mand processing has been completed.
3.
Set OW
0A to 0 to execute the NOP motion command and then complete the
monitoring operation.
Set Value Name Contents
0POS
Reference coordinate system's reference position (after reference
filter)
1MPOSMachine coordinate system's reference position
2PERRFollowing error
3APOSMachine coordinate system's feedback position
4LPOSMachine coordinate system's feedback latch position
5IPOS
Reference coordinate system's reference position (before
reference filter)
6TPOSReference coordinate system's target position
7
－ －
8FSPDFeedback Speed
9CSPDReference speed
ATSPDTarget speed
BTRQTorque reference (Rated torque is 100%.)
C
－ －
D
－ －
EOMN1Optional monitor 1 (Actual content set in parameters.)
FOMN2Optional monitor 2 (Actual content set in parameters.)
No. Execution Conditions Confirmation Method
1 Motion subcommand execution has been completed.
IW
0A is 0 and IB
0B0 is OFF.
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