YASKAWA MECHATROLINK Sigma 2 Series - Monitor Selection and Monitor Information Field Specifications; Sel_Mon1;2;3;4, Monitor1;2;3;4

4 MECHATROLINK-II Communications
4.5.4 Monitor Selection and Monitor Information Field Specifications: SEL_MON1/2/3/4, MONITOR1/2/3/4
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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_MON1/2/3/4,
MONITOR1/2/3/4) can be designated using the following main commands:
SV_ON, SV_OFF, HOLD, INTERPOLATE, POSING, LATCH, EX_POSING, ZRET,
SMON, SENS_ON, SENS_OFF, BRK_ON, BRK_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
nineteenth byte reserved area of the subcommands.
 SEL_MON1/2/3/4 Fields
D9 T_LIM Torque limit
0
Not during torque limit
1
During torque limit
D10 L_CMP Latch completion
0
Latch not completed
1
Latch completed
D11 NEAR Positioning proximity
0
Out of positioning proxim-
ity range
Position
control mode
1
Within positioning proximity
range
V_LIM Speed limit
0
Speed limit not detected Torque
control mode
1
Speed limit detected
D12 P_SOT Forward software limit
0
Out of range
1
Within range
D13 N_SOT Reverse software limit
0
Out of range
1
Within range
D14 Reserved
D15 Reserved
(cont’d)
Bit Name Description Set
Value
Details Control
Mode
D7 D6 D5 D4 D3 D2 D1 D0
SEL_MON2 SEL_MON1
D7 D6 D5 D4 D3 D2 D1 D0
SEL_MON4 SEL_MON3