Yaskawa MP2200 Machine Controller - Manual (Page 216)

4 Motion Parameters
4.4.3 Motion Monitoring Parameter Details
4-96
( 11 ) Speed Information
IL††20
Speed Reference Output Monitor
Range Unit
−2 31 to 2 31 −1
Speed Units (setting parameter
OW††03, bits 0 to 3)
Stores the speed reference that is being output.
This parameter will be 0 for interpolation or phase control.
IL††24
Integral Output Monitor
Range Unit
−2 31 to 2 31 −1
Speed Units (setting parameter
OW††03, bits 0 to 3)
Stores the integral output value when using PI control in the position loop (see setting parameter OW††21, bit 8).
This parameter is used in Position Control Mode and Zero Point Return Mode.
IL††26
Primary Lag Monitor
Range Unit
−2 31 to 2 31 −1
Speed Units (setting parameter
OW††03, bits 0 to 3)
Stores the following value: IL††24 − the primary lag element's output.
This parameter is used in Position Control Mode and Zero Point Return Mode.
IL††28
Position Loop Output Monitor
Range Unit
−2 31 to 2 31 −1
Speed Units (setting parameter
OW††03, bits 0 to 3)
Stores the position loop output value (before the feed forward value is added).
This parameter is used in Position Control Mode and Zero Point Return Mode.