3.4 Motion Parameter Details
3.4.3 Monitor Parameter Details
3-80
M-III Servo Command Input Signal Monitor
This parameter reports the signal information that was input to the MECHATROLINK-III. The
meanings of the bits depend on the Servo profile.
Bits for the Standard Servo Profile
M-III Servo Command Status
This parameter reports the Servo command information that was input to the MECHA-
TROLINK-III. The meanings of the bits depend on the Servo profile.
Bits for the Standard Servo Profile
SERVOPACK Status
M-III Command Status
Bit 0: Drive Alarm (D_ALM)
0: No drive alarm.
1: Drive alarm occurred.
Bit 1: Drive Warning (D_WAR)
0: No drive warning.
1: Drive warning occurred.
Bit 2: Command Ready (CMDRDY)
0: Commands cannot be received.
1: Commands can be received.
Register
Address
Name Range Unit
IL28 M-III Servo Command Input Signal Monitor −−
Bit 0: Reserved. Bit B: N-SOT
Bit 1: DEC Bit C: DEN
Bit 2: P-OT Bit D: NEAR
Bit 3: N-OT Bit E: PSET
Bit 4: EXT1 Bit F: ZPOINT
Bit 5: EXT2 Bit 10: T_LIM
Bit 6: EXT3 Bit 11: V_LIM
Bit 7: ESTP Bit 12: V_CMP
Bit 8: Reserved. Bit 13: ZSPD
Bit 9: BRK_ON Bits 14 to 16: Reserved.
Bit A: P-SOT Bits 17 to 1F: Vendor Specific
Register
Address
Name Range Unit
IL2A M-III Servo Command Status −−
Bit 0: CMD_PAUSE_CMP Bit B: PON
Bit 1: CMD_CANCEL_CMP Bit C: M_RDY
Bits 2 and 3: Reserved. Bit D: SV_ON
Bits 4 and 5: ACCFIL Bits E and F: Reserved.
Bits 6 and 7: Reserved. Bits 10 to 13: SEL_MON1
Bit 8: L_CMP1 Bits 14 to 17: SEL_MON2
Bit 9: L_CMP2 Bits 18 to 1B: SEL_MON3
Bit A: POS_RDY Bit: 1C to 1F: Vendor Specific
Register
Address
Name Range Unit
IW2C M-III Command Status −−
SVC
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