Yaskawa Sigma II Indexer - Manual (Page 159)

Sigma II Indexer User’s Manual Serial Command Functions
6-30
PER or MON2
Position Error Monitor
[reference units]
Positive Response:
PER = + 12345678 [CR] [LF]
Negative Response: ExxE
NFB or MON3
Motor Speed Monitor
[rpm]
Positive Response:
NFB = + 12345678 [CR] [LF]
Negative Response: ExxE
NREF or MON4
Speed Reference Monitor
[rpm]
Positive Response:
NREF = + 12345678 [CR] [LF]
Negative Response: ExxE
TREF or MON5
Torque Reference Monitor
[% rated torque]
Positive Response:
TREF = + 12345678 [CR] [LF]
Negative Response: ExxE
STS or MON6 Status Flag Monitor
Positive Response:
STS = 1010101 [CR] [LF]
bit 0: 1 in INPOSITION
bit 1: 1 in NEAR
bit 2: 1 in DEN (Command Position Complete)
bit 3: 1 in HOLD or Program Interruption
bit 4: 1 in Program Operation in Progress
bit 5: 1 in Current Limitation
bit 6: 1 when Main Power ON
Note: Response sent as characters, not as one byte.
PFB or MON7
Current Motor (actual) Position Moni-
tor
[reference units]
Positive Response:
PFB = + 12345678 [CR] [LF]
POS or MON8
Target Position Monitor
[reference units]
Positive Response:
POS = + 12345678 [CR] [LF]
When using an incremental position reference, monitor shows
target position (absolute position from 0).
DST or MON9
Target Distance Monitor
[reference units]
Positive Response:
DST = + 12345678 [CR] [LF]
When using an incremental position reference, monitor shows
reserved relative distance.
RPOS or MON10
Registration Target Position Monitor
[reference units]
Positive Response:
RPOS = + 12345678 [CR] [LF]
RDST or MON11
Registration Target Distance Monitor
[reference units]
Positive Response:
RDST = 12345678 [CR] [LF]
Table 6.10: Monitors and Functions
Serial Command Function / Description Answer