Yaskawa MP2200 Machine Controller - Manual (Page 22)

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Position - Position
AbsDataRestore OBxx007
Loads current position with ABS encoder position at
last power off.
AbsDataRestored IBxx0C8 Absolute data has been restored (ABSLDE).
Actual ILxx16 Actual (feedback) position (APOS)
Commanded OLxx1C
Commanded position, incremental or absolute based
on MoveType
CommandedPerScan ILxx1C Commanded position per each scan
Error ILxx1A Position error (PERR)
ErrorLimit OLxx22
The value (in user units) that triggers a position error
alarm or warning when exceeded
ErrorType OBxx010
Sets whether position error will trigger an alarm(0) or
warning(1).
IncTarget ILxx0E Commanded position (TPOS)
IncTargetModularized ILxx10 Modularized commanded position per scan (CPOS)
IncTargetModularized2 ILxx12 Commanded position per scan (MPOS)
InPosition IBxx0C1 In position (POSCOMP)
InPosition2 IBxx0C3 Second in position (NEAR)
InPosition2N IBxx2CB Servo status NEAR
InPosition2Window OLxx20
Position window that determines when InPosition2
will be set (when Actual=Commanded ± Window2)
InPositionN IBxx2C7 Servo status PSET
InPositionTimeOut OWxx26
The value (in milliseconds) that triggers a position
complete timeout alarm after the profilier is complete
InPositionWindow OLxx1E
Position window that determines when InPosition will
be set (when Actual=Commanded ± Window)
MoveType OBxx95 Selects positioning. 0=incremental 1=absolete
Offset OLxx46
The offset distance that the motor will travel during
the external positioning command if the external
positioning signal is activated during the move
PhaseCompensation OLxx28
Position units added to the commanded position in
phase control mode.
PhasePositionLoopEnable OBxx051 Closes position loop with OLxx16.
ProfilerComplete IBxx0C0 Profiler complete (DEN)
ProfilerCompleteN IBxx2C8 Servo status DEN
Relative OLxx44 Distance used in the step command
WorkCoordinateOffset OLxx4A Offset for interpolation commands
S_CurveTime OWxx3A Softens acceleration or deceleration.
ServoOn OBxx000 Sets bit to energize servo.
ServoParameter - ServoParameter
GetNumber IWxx36 Requested parameter number (Pn)
GetValue ILxx38 Requested parameter value
SetNumber OWxx50
The number of the amplifier parameter to be read or
set
SetSize OWxx51 The size of the amplifier parameter data
SetValue OLxx52 The value to be set for the amplifier parameter
(cont’d)
Variable Name Register Comments