4.5 Command Data Field
4-59
4
îš„ MONITOR1/2/3/4 Monitor Codes
* Up to 4 monitor codes can be set to MONITOR 1 to 4.
4.5.5 IO Monitor Field Specifications: IO_MON
The IO monitor field specifications (IO_MON) can be designated using the following com-
mands:
SMON, SV_ON, SV_OFF, HOLD, INTERPOLATE, POSING, LATCH, EX_POSING,
ZRET, SENS_ON, SENS_OFF, BRK_ON, BRK_OFF
The IO monitor field is used to monitor the I/O signal status of the SERVOPACK, with the
fourteenth to fifteenth byte reserved area of the above main commands.
Monitor
Codes*
Name Description Unit
0POS Reference position in the reference coordinate sys-
tem (position after reference filter procedure)
Reference units
1MPOS Reference position in the mechanical coordinate
system
Reference units
2PERR Position error Reference units
3APOS Feedback position in the mechanical coordinate
system
Reference units
4LPOS Feedback latch position in the mechanical coordi-
nate system
Reference units
5IPOS Reference position in the reference coordinate sys-
tem (position before reference filter procedure)
Reference units
6TPOS Target position in the reference coordinate system Reference units
7
8 FSPD Feedback speed Position/torque control: reference units/s
Speed control: Maximum speed /40000000H
9 CSPD Reference speed Position/torque control: reference units/s
Speed control: Maximum speed /40000000H
A TSPD Target speed Position/torque control: reference units/s
Speed control: Maximum speed /40000000H
BTRQ Torque reference (The rated torque is 100%.) Position/torque control: %
Speed control: Maximum torque /
40000000H
C
D
EOMN1 Option monitor 1 selected in Pn813.0
FOMN2 Option monitor 2 selected in Pn813.1
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