Yaskawa MP2200 Machine Controller - Manual (Page 352)

5 Motion Commands
5.3.6 Monitor Status (SMON)
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5.3.6 Monitor Status (SMON)
When the SMON command is executed, the data specified in Monitor 4 of the Servo User Monitor is
stored in Servo User Monitor 4 (monitoring parameter IL††34).
The following table shows the data that can be specified in the User Monitor. Refer to your
SERVOPACK manual for details on the monitored data.
This command will end with a Command Error End if it is executed with a communications method
other than MECHATROLINK-II (32 byte).
( 1 ) Operating Procedure
Set Value Name Contents
0 POS
Reference coordinate system's reference position (after reference
filter)
1 MPOS Machine coordinate system's reference position
2 PERR Following error
3 APOS Machine coordinate system's feedback position
4 LPOS Machine coordinate system's feedback latch position
5 IPOS
Reference coordinate system's reference position (before reference
filter)
6 TPOS Reference coordinate system's target position
7 − −
8 FSPD Feedback Speed
9 CSPD Reference speed
A TSPD Target speed
B TRQ Torque reference (Rated torque is 100%.)
C − −
D − −
E OMN1 Optional monitor 1 (Actual content set in parameters.)
F OMN2 Optional monitor 2 (Actual content set in parameters.)
No. Execution Conditions Confirmation Method
1 Motion subcommand execution must be completed. IW††0A is 0 and IB††0B0 is OFF.
Execute SMON motion subcommand.
• Set OW††0A to 3.
Reads the information managed by the Servo Driver
and stores the code in the monitoring parameter.
• IW††0A will be 3 during command execution.
• IB††0B0 will be ON during command
processing.
Monitoring is completed.
• IW††0A is 3 and IB††0B0 is OFF.
Execute NOP motion command.
• Set OW††0A to 0.