Yaskawa MP2200 Machine Controller - Manual (Page 135)

4.2 Motion Parameter Lists
4-15
IL††26 Primary Lag Monitor
Unit is according to OW††03, bits 0 to 3 (Speed Unit).
Stores IL††24
− (Output from primary delay element).
Yes
IL††28
Position Loop Output
Monitor
Unit is according to OW††03, bits 0 to 3 (Speed Unit). Yes
IL††2A － Reserved
IW††2C Network Servo Status
Bit 0: Alarm Occurred (ALM)
Bit 1: Warning Occurred (WARNING)
Bit 2: Command Ready (CMDRDY)
Bit 3: Servo ON (SVON)
Bit 4: Main Power ON (PON)
Bit 5: Machine Lock (MLOCK)
Bit 6: Zero Point Position (ZPOINT)
Bit 7: Positioning Completed (PSET)/
Speed Coincidence (V-CMP)
Bit 8: Distribution Completed (DEN)/Zero Speed (ZSPD)
Bit 9: Torque Being Limited (T_LIM)
Bit A: Latch Completed (L_CMP)
Bit B:Position Proximity (NEAR)/Speed Limit (V_LIM)
Bit C: Positive Soft Limit (Positive Software Limit) (P_SOT)
Bit D: Negative Soft Limit (Negative Software Limit) (N_SOT)
Yes
Bits E to F: Reserved
IW††2D Servo Alarm Code Stores the alarm code from the SERVOPACK. Yes
IW††2E Network Servo I/O Monitor
Bit 0: Positive Drive Prohibited Input (P_OT)
Bit 1: Negative Drive Prohibited Input (N_OT)
Bit 2: Zero Point Return Deceleration Limit Switch Input (DEC)
Bit 3: Encoder Phase-A Input (PA)
Bit 4: Encoder Phase-B Input (PB)
Bit 5: Encoder Phase-C Input (PC)
Bit 6: First External Latch Input (EXT1)
Bit 7: Second External Latch Input (EXT2)
Bit 8: Third External Latch Input (EXT3)
Bit 9: Brake Output (BRK)
Bit A: Reserved
Bit B: Reserved
Bit C: CN1 input signal (IO12)
Bit D: CN1 input signal (IO13)
Bit E: CN1 input signal (IO14)
Bit F: CN1 input signal (IO15)
Yes
IW††2F
Network Servo User Monitor
Information
Bits 0 to 3: Monitor 1
Bits 4 to 7: Monitor 2
Bits 8 to B: Monitor 3
Bits C to F: Monitor 4
Yes
IW††30 Servo User Monitor 2 Stores the result of the selected monitor. Yes
IW††32 Servo User Monitor 3 Stores the result of the selected monitor. Yes
W††34 Servo User Monitor 4 Stores the result of the selected monitor. Yes
IW††36 Servo Constant Number Stores the number of the parameter being processed. Yes
IW††37
Auxiliary Servo User
Constant Number
Stores the number of the parameter being processed.
IW††38 Servo User Constant Stores the data of the parameter being read. Yes
IW††3A
Auxiliary Servo User
Constant
Stores the data of the parameter being read. Yes
IW††3F Motor Type
Stores the type of motor actually connected.
0: Rotary motor
1: Linear motor Yes
IL††40 Feedback Speed Unit is according to OW††03, bits 0 to 3 (Speed Unit). Yes Yes Yes
(cont’d)
Register No. Name Description
SVB
-01
SVA
-01
SVR