YASKAWA SIGMA-7 Series

7.3 List of MECHATROLINK-III Common Parameters
7-60
88
PnB10
4 Monitor Select 2 0h to Fh – 0h All
Immedi-
ately
Command-related parameters
89
PnB12
4
Monitor Select for
SEL_MON1
0h to 9h – 0h All
Immedi-
ately
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Parameter
No.
Size Name Setting Range
Setting Unit
[Resolution]
Default
Setting
Applicable
Motors
When
Enabled
Classi-
fication
0000h to
000Fh
The settings are the same as those for Fixed Monitor Selection 1.
0000h TPOS (target position in reference coordinate system)
0001h IPOS (reference position in reference coordinate system)
0002h POS_OFFSET (offset set in POS_SET (Set Coordinate System) command)
0003h TSPD (target speed)
0004h SPD_LIM (speed limit)
0005h TRQ_LIM (torque limit)
0006h
SV_STAT (servo actual operating status)
Monitor Description
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
0007h Reserved.
0008h INIT_PGPOS (Low)
Lower 32 bits of initial encoder position con-
verted to 64-bit position reference data
0009h INIT_PGPOS (High)
Upper 32 bits of initial encoder position con-
verted to 64-bit position reference data
Bit Name Description Value Setting
Bit 0 LT_RDY1
Processing status for
latch detection for
LT_REQ1 in SVCM-
D_CTRL region
0
Latch detection
not yet pro-
cessed.
1
Processing latch
detection in
progress.
Bit 1 LT_RDY1
Processing status for
latch detection for
LT_REQ2 in SVCM-
D_CTRL region
0
Latch detection
not yet pro-
cessed.
1
Processing latch
detection in
progress.
Bits 2
and 3
LT_SEL1R Latch signal
0Phase C
1
External input
signal 1
2
External input
signal 2
3
External input
signal 3
Bits 4
and 5
LT_SEL2R Latch signal
0Phase C
1
External input
signal 1
2
External input
signal 2
3
External input
signal 3
Bit 6 Reserved (0).