Specifications

3-30
3.5 Communication Codes
3.5.1 Monitor codes
Monitor code list
The following table indicates the word data (monitor codes) to be specified for Monitor 1 code RW
w0
and Monitor 2 code RW
w1
.
Code No. Reply Data (Servo Amplifier to PLC) Remarks
When 1
station is
occupied
When 2
stations
are
occupied
Monitor Data
Data
length
Unit
0000 0000 No monitor 0000
0001 0001 Current position under 16 bits 16bit
0002 Current position upper 16 bits 16bit
0003 0003 Command position under 16 bits 16bit
0004 Command position upper 16 bits 16bit
0005 0005 Command remaining distance
under 16 bits
16bit
0006 Command remaining distance
upper 16 bits
16bit
10
STM
[mm]
0007 0007 No monitor 16bit
0008 0008 Point table 16bit [No.]
0009 No monitor 16bit
000A 000A Cumulative feedback pulses
under 16 bits
16bit [pulse]
000B Cumulative feedback pulses
upper 16 bits
16bit [pulse]
000C No monitor 16bit
000D No monitor 16bit
000E 000E Droop pulses under 16 bits 16bit [pulse]
000F Droop pulses upper 16 bits 16bit [pulse]
0010 0010 Torque limit command voltage 16bit 0.01[V]
0011 0011 Regenerative load ratio 16bit [%]
0012 0012 Effective load ratio 16bit [%]
0013 0013 Peak load ratio 16bit [%]
0014 0014 Instantaneous torque 16bit [%]
0015 0015 ABS counter 16bit [rev]
0016 0016 Motor speed under 16 bits 16bit 0.1[r/min]
0017 Motor speed upper 16 bits 16bit 0.1[r/min]
0018 0018 Bus voltage 16bit [V]
0019 0019 ABS position under 16 bits 16bit [pulse]
001A ABS position middle 16 bits 16bit [pulse]
001B 001B ABS position upper 16 bits 16bit [pulse]
001C 001C Within one-revolution position
under 16 bits
16bit [pulse]
001D Within one-revolution position
upper 16 bits
16bit [pulse]
*The multiplying factor of the monitor data can be read with the instruction code (from 0101H on).