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7. AUXILIARY FUNCTION
7.4 Monitor function
7.4.1 Summary
The monitor function is for referencing servo information such as current command position, speed Feedback
etc. and operation information and system information.
When monitoring system information, the monitor area in the system command/status table is used. Also,
when monitoring servo information and operational information, the monitor area of the command/status table
for each axis is used.
2 items of system information and 4 items per axis of servo information can be monitored.
While the monitor command signal (MON) is on, the monitor data is continuously updated.
POINT
The update period is the control cycle to several ms and the updated period
differs depending on the control status.
Monitor outpu
t
(MOUT)
ON
OFF
sscGetMonitor function
Monitor numbe
r
Monitor numbe
r
(answer back)
Monitor command
(MON)
Monitor data
sscSetMonitor function
ON
OFF
When changing the monitor number, turn off the monitor command signal (MON). Changing of the monitor
number is performed on the raising edge of the monitor command signal (MON) (if monitor number is changed
while the monitor command is on, it is ignored).
Monitor data is 16 bits per item. For referencing 32 bit data, designate 2 items, upper and lower or designate
an operation information (double word) number. For designating operation information (double word) set the
monitor number to monitor number 1 or monitor number 3. If the operation information (double word) number is
set to monitor number 2 or monitor number 4 a monitor number error occurs.
Also, when designating operation information (double word) using monitor number 1 or monitor number 3, set
monitor number 2 and monitor number 4 to 0. If a different monitor number is set for monitor number 2 or
monitor number 4, a monitor number error occurs.