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Chapter 5 Data Used for Positioning Control
Monitoring the status of servo amplifier
Monitor details Corresponding item
Monitor the real current value (current feed value - deviation
counter).
[Md.101]
Real current value
Monitor the difference between current feed value and real current
value.
[Md.102]
Deviation counter value
Monitor the motor speed of servo motor.
[Md.103]
Motor rotation speed
Monitor the current value of servo motor.
[Md.104]
Motor current value
Monitor the software No. of servo amplifier.
[Md.106]
Servo amplifier software No.
Monitor the parameter No. that an error occurred.
[Md.107]
Parameter error No.
Monitor the status (servo status) of servo amplifier.
[Md.108]
Servo status
[Md.125]
Servo status3
[Md.500]
Servo status7
• Monitor the percentage of regenerative power to permissible
regenerative value.
• Monitor the content of "[Pr.91] Optional data monitor: Data type
setting 1" at optional data monitor data type setting.
[Md.109]
Regenerative load ratio/Optional data
monitor output 1
• Monitor the continuous effective load torque.
• Monitor the content of "[Pr.92] Optional data monitor: Data type
setting 2" at optional data monitor data type setting.
[Md.110]
Effective load torque/Optional data
monitor output 2
• Monitor the maximum generated torque.
• Monitor the content of "[Pr.93] Optional data monitor: Data type
setting 3" at optional data monitor data type setting.
[Md.111]
Peak torque ratio/Optional data monitor
output 3
Monitor the content of "[Pr.94] Optional data monitor: Data type
setting 4" at optional data monitor data type setting.
[Md.112]
Optional data monitor output 4
Monitor the status of semi closed loop control/fully closed loop
control.
[Md.113]
Semi/Fully closed loop status
Monitor the alarm of servo amplifier.
[Md.114]
Servo alarm
Monitor the option information of encoder.
[Md.116]
Encoder option information
Monitor the driver operation alarm number.
[Md.502]
Driver operation alarm number
Monitoring the state
Monitor details Corresponding item
Monitor the axis operation state
[Md.26]
Axis operation status
Monitor the latest error code that occurred with the axis
[Md.23]
Axis error No.
Monitor the latest warning code that occurred with the axis
[Md.24]
Axis warning No.
Monitor the external input/output signal and flag
[Md.30]
External input signal
[Md.31]
Status
Monitor the valid M codes
[Md.25]
Valid M code
Monitor whether the speed is being limited
[Md.39]
In speed limit flag
Monitor whether the speed is being changed
[Md.40]
In speed change processing flag
Monitor the "start data" point currently being executed
[Md.43]
Start data pointer being executed
Monitor the "positioning data No." currently being executed
[Md.44]
Positioning data No. being executed
Monitor the remaining number of repetitions (special start)
[Md.41]
Special start repetition counter
Monitor the remaining number of repetitions (control system)
[Md.42]
Control system repetition counter