Yaskawa SGDS Sigma III Servo Amplifier - Manual (Page 184)

6.5 Command Data Field
6-53
* For the items to be monitored, assign their monitor codes to the SEL_MON commands.(, 1 to 4)
6.5.5 IO Monitor Field Specifications: IO_MON
The IO monitor field specifications (IO_MON) can be designated using the following commands:
SMON, SV_ON, SV_OFF, HOLD, INTERPOLATE, FEED, POSING, LATCH, EX_POSING, ZRET,
VELCTRL, TRQCTRL, SENS_ON, SENS_OFF, BRK_ON, BRK_OFF, LTMOD-ON, LTMOD-OFF
The IO monitor field is used to monitor the I/O signal status of the SERVOPACK, with the fourteenth to fifteenth
byte reserved area of the above main commands.
• IO Monitor Field
7
8
FSPD Feedback speed Position/torque control: reference units/s
Speed control: Maximum speed /40000000H
9 CSPD Reference speed Position/torque control: reference units/s
Speed control: Maximum speed /40000000H
A TSPD Target speed Position/torque control: reference units/s
Speed control: Maximum speed /40000000H
B TRQ Torque reference (The rated torque is 100%.) Position/torque control: %
Speed control: Maximum torque /
40000000H
C
D
E
OMN1 Option monitor 1 selected in Pn824
F OMN2 Option monitor 2 selected in Pn825
Monitor
Codes*
Name Description Unit
D7 D6 D5 D4 D3 D2 D1 D0
EXT2 EXT1 PC PB PA DEC N_OT P_OT
D15 D14 D13 D12 D11 D10 D9 D8
IO15 IO14 IO13 IO12 − − BRK EXT3
Bit Name Description Set
Value
Settings
D0 P_OT Forward run prohibited input 0 OFF
1 ON
D1 N_OT Reverse run prohibited input 0 OFF
1 ON
D2 DEC Homing deceleration LS input 0 OFF
1 ON
D3 PA Encoder phase A input 0 OFF
1 ON
D4 PB Encoder phase B input 0 OFF
1 ON
D5 PC Encoder phase C input 0 OFF
1 ON
D6 EXT1 First external latch signal input 0 OFF
1 ON
D7 EXT2 Second external latch signal input 0 OFF
1 ON