YASKAWA SIGMA-7 Series User Manual

3.5 Monitoring
3.5.3 MECHATROLINK-III Monitoring
3-26
SVCMD_IO (Servo Command Input Signal) Monitoring
The output specification of servo command input signal monitoring is given in the following
table.
CCMN1
TPOS Target Position PnB12 (PnB14) = 0000H
IPOS
Command Position
(before filtering)
PnB12 (PnB14) = 0001H
DCMN2
TPOS Target Position PnB12 (PnB14) = 0000H
IPOS
Command Position
(before filtering)
PnB12 (PnB14) = 0001H
EOMN1
LstLpos1 Last Latched Position 1 Pn824 (Pn825) = 0080H
LstLpos2 Last Latched Position 2 Pn824 (Pn825) = 0081H
FOMN2
LstLpos1 Last Latched Position 1 Pn824 (Pn825) = 0080H
LstLpos2 Last Latched Position 2 Pn824 (Pn825) = 0081H
Servo command input signal monitoring not listed in the following table has the same output
specification as the
Σ-7W SERVOPACK with MECHATROLINK-III Communications Refer-
ences (SGD7W-
A20).
Signal Name Description
DEN DEN = 1 when distribution of TPOS + correction amount has completed.
PSET
PSET = 1 when DEN = 1 (Distribution Completed) and position deviation is | (TPOS + correc-
tion amount) - (APOS + correction amount) | ≤ Pn522 (Positioning Completed Width).
NEAR
NEAR = 1 when position deviation is | (TPOS + correction amount) - (APOS + correction
amount) | ≤ Pn524 (Near Signal Width).
Continued from previous page.
Selection
Code
Monitor Name
Monitor Name
When CMN or OMN
Is Selected
Description Information
Information

YASKAWA SIGMA-7 Series Specifications

General

Encoder Resolution	24-bit absolute encoder
Pollution Degree	2
Cooling Method	Natural cooling or forced air cooling
Control Method	Vector control
Communication Protocols	EtherCAT, MECHATROLINK-III
Input Voltage	AC 200 V, AC 400 V
Rated Output	Varies by model
Safety Function	STO (Safe Torque Off), SS1 (Safe Stop 1), SS2 (Safe Stop 2), SLS (Safely Limited Speed), SBC (Safe Brake Control)
Power Supply Voltage	AC 200 V, AC 400 V
Rated Output Current	Varies by model
Protection Functions	Overload, overvoltage, undervoltage, overheat, short circuit
Operating Temperature	0°C to 55°C
Storage Temperature	-20°C to 65°C
Vibration Resistance	5.9 m/s² at 10 Hz to 55 Hz
Ambient Humidity	5% to 95% RH (non-condensing)
Altitude	Up to 1000 m
Installation	Panel mounted