Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands Manual de usuario descargar pdf (Pagina 113)

5 Command Related Parameters

5.2.7 STATUS Field and Monitor Related Settings

5-24

(3) Option Monitor Setting

Set the contents to be monitored when Option Monitor 1 and Option Monitor 2 are selected for MONITOR 1/

2/3/4.

∗ Can only be set for Σ-V Series SERVOPACKs model SGDV-B.

Parameter

No.

Name Remarks

Pn824

Option Monitor 1 Selection –

0000H Motor rotation speed [1000000H/OS] –

0001H Speed reference [1000000H/OS] –

0002H Torque (Force) [1000000H/max. torque (force)] –

0003H Position error (lowermost 32 bits) [reference unit] –

0004H Position error (uppermost 32 bits) [reference unit] –

0005H System reserved –

0006H System reserved –

000AH Encoder count (lowermost 32 bits) [reference unit] –

000BH Encoder count (uppermost 32 bits) [reference unit] –

000CH

External encoder count (lowermost 32 bits) [reference

unit]

For fully-closed loop control

000DH

External encoder count (uppermost 32 bits) [reference

unit]

For fully-closed loop control

0010H Un000: Motor rotation speed [min

-1

]–

0011H Un001: Speed reference [min

-1

]–

0012H Un002: Torque (Force) reference [%] –

0013H Un003: Rotation angle 1 [pulse] –

0014H Un004: Rotation angle 2 [degree] –

0015H Un005: Input signal monitor –

0016H Un006: Output signal monitor –

0017H Un007: Input position reference speed [min

-1

]–

0018H Un008: Position error [reference unit] –

0019H Un009: Accumulated load ratio [%] –

001AH Un00A: Regenerative load ratio [%] –

001BH Un00B: DB resistance consumption power [%] –

001CH Un00C: Input reference pulse [reference unit] –

001DH Un00D: Feedback pulse [pulse] –

001EH Un00E: Fully-closed loop feedback pulse [pulse] For fully-closed loop control

0023H Initial multiturn data [rev] For rotational servomotors

0024H Initial incremental pulse For rotational servomotors

0025H Initial absolute position data lowermost 32 bits [pulse] For linear servomotors

0026H Initial absolute position data uppermost 32 bits [pulse] For linear servomotors

0027H

Un022: Installation environment monitor [%] –

0080H Previous value of latched feedback position (LPOS) –

Others Reserved parameters (Do not use.) –

Pn825 Option Monitor 2 Selection (Same as for Pn824) –

1 2 ... 108 109 110 111 112 113 114 115 116 117 118 ... 141 142

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Yaskawa Sigma-5 User Manual: MECHATROLINK-II Commands Manual de usuario Pagina 113

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