YASKAWA SMG Series User Manual

6.4 Special Descriptions
Name Code
Description
Units
POS 0
Position in the reference coordinate system Reference units
MPOS
1 Position in the mechanical coordinate system Reference units
PERR
2 Position error Reference units
APOS 3 Absolute position Reference units
LPOS
4 Counter latch position
Reference units
I P OS 5 Internal position in the reference coordinate
system
Reference units
TPOS 6
Final target position Reference units
— 7 —
—
FSPD
8 Feedback speed Reference units/s
CSPD 9 Reference speed Reference units/s
TSPD A Final target reference speed Reference units/s
TRO
B
Torque reference
Reference units
— C —
%
— D — -
- E — -
- F — —
6.4.3 Monitor 1/2 Type Field Specifications
1
Command
2
3
4
Option
5
6
7
8
9
10
11
12
13
14
15
16
WDT
The monitor 1/2 type, the thirteenth byte of the reference data field
of commands, is reserved to select monitor data that will be re-
turned.
The following types of monitoring are available with the
SGDB-1110 ON.
• Appropriate commands for monitor 1/2 type
SMON, SV_ON, SV_OFF, INTERPOLATE, POSING,
FEED, LATCH, EX_POSING, ZRET
The following table outlines the data (codes) and monitoring contests of monitor 1/2 type.
Note 1. The minus (—) sign indicates unused bits. Do not use them.
2. Feedback speed is approx. 20 [reference unit/s] (factory setting) and refer-
ence speed is a resolution of 500 [reference unit/s].

YASKAWA SMG Series Specifications

General

Brand	YASKAWA
Model	SMG Series
Category	Controller
Language	English