4.3 Motion Subcommand Details
4.3.5 SMON (Monitor Status)
4
Motion Control Program Commands and Instructions
4-131
4.3.5
SMON (Monitor Status)
The SMON subcommand reports the data specified in Monitor 4 of the OW4E setting
parameter (SERVOPACK User Monitor Setting) in the IL34 monitor parameter (SERVO-
PACK User Monitor 4).
The following table lists the data that can be specified in the User Monitor Setting parameter.
Execution and Operating Procedures
1.
Make sure that the following condition is met.
* This subcommand cannot be executed until the execution of other motion subcommands is completed.
2.
Set the OW0A setting parameter (Motion Subcommands) to 4 to execute the
SMON motion subcommand.
The information managed by the SERVOPACK is read and the code is stored in the monitor parame-
ter.
The IW0A monitor parameter (Motion Subcommand Response Code) is 4 during execution of
this command.
During command processing, bit 0 (Command Execution Flag) in the IW0B monitor parameter
will change to 1 (Processing). When processing is completed, this bit will change to 0 (Completed).
3.
Set OW0A to 0 to execute the NOP motion subcommand.
This concludes the monitor status operation.
Set Value Name Description
0 APOS Feedback position
1 MPOS Reference position
2 PERR Position deviation
3 LPOS1 Latch position 1
4 LPOS2 Latch position 2
5 FSPD Feedback Speed
6 CSPD Reference Speed
7 TRQ Torque/force reference
8 ALARM Detailed information on the first alarm
9 − Reserved.
A − Reserved.
B − Reserved.
C CMN1 Common monitor 1
D CMN2 Common monitor 2
EOMN1
Optional monitor 1 (Depends on the specifications of the
product used.)
FOMN2
Optional monitor 2 (Depends on the specifications of the
product used.)
1. Refer to the manual for your SERVOPACK for details on the content that you can monitor.
2. Some settings cannot be monitored for some SERVOPACK models.
No. Execution Condition Confirmation Method
1
Execution of motion subcommands must be
completed.*
IW0A must be 0 and bit 0 in
IW0B must be 0.
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