Yaskawa MP940 Reference Manual - Manual (Page 411)

Control Mode MotionSuite™ MP940 Machine Controller Reference Manual
11-14
M
ac
hi
ne C
o
or
dinat
e F
ee
dbac
k
(
ILC006)
Z
e
ro
Po
in
t P
o
s
it
ion
O
ffse
t (
O
LC
0
0
6
)
P
os
it io
n Coordi
nat
e L
at
c
h
P
os
it
ion
(LC008)
R
un S
tat
us
(I
W
C
0
00
)
DI
La
tc
h
Com
plet
io
n S
ign
al
(B
C000B
)
To
rq
u
e
Co
n
tro
l
M
o
d
e
Pa
ra
m
e
te
rs
T
o
rque Ref
eren
c
e
S
e
tt
ing (
O
WC01B
)
Current Po
si
ti
o
n
Calc
u
lat
ion
Ab
s
o
lu
te
Po
s
iti
o
n
Re
c
e
p
ti
o
n
M
u
lt ip
le
Tor
que R
ef
er
ence
C
o
nver
s
ion
S
pee
d R
e
fer
enc
e
C
o
nver
s
ion
SGD
H
Mot
or
Ab
s
o
lu
te
/
In
c
re
m
e
n
ta
l
E
nc
o
der
Di
v
id
e
r
IWC
00
C
(SP
D
R
EF)
ILC
0
06
(L
PO
S)
IL
C
0
08
(A
P
O
S
)
E
x
te
rn
al La
tc
h
Si
gn
al
ILC
010
(A
BSR
EV
)
ILC
012
(IPU
L
SE)
Abs
o
lu
te
E
nc
oder
S
peed
Lim
it S
e
tt
ing (
O
W
C
01C
)
S
e
rv
o D
rive S
ta
tus
(I
W
C
001
)
A
nalog
Mon
itor
S
peed Monit
or
(
IW
C
00D
)
R
un C
omm
ands
(
O
W
C
001
)
SIO
: G
ene
ral
In
pu t
- - -
- -
- -
D
I0
PE
C: O
ri
g
in
L
S
- -
- -
- -
- -
- -DI1
P-O
T
:
F
o
rw
a
rd
O
T
- -
- -
- - -
D
I2
N
-O
T
: Re
v
e
rs
e
O
T
- -
- -
- -
- DI3
E
X
T1
: E
x
t
Inpu
t S
ignal
1- -
- D
I4
E
X
T2
: E
x
t
Inpu
t S
ignal
2- -
- D
I5
Ru
n
(
R
U
N
) -
- -
- - -
- -
- -
- -DO
0
Zer
o C
la
m
p
Input
- -
- -
- -
- D
O
5
S
peed
Loop
P
/P
I C
ontr
ol-
-
D
O
1
G
a
in
S
w
it
c
h
in
g
-
- -
- -
- - -
- DO
2
F
w
d
.
Ext.
T
o
rq
ue
L
im
it
In
pu
t-
-
D
O
3
R
e
v.
Ext.
To
rq
u
e
L
im
it
In
p
u
t-
-
D
O
4
S
peed Monit
or
E
X
T3
: E
x
t
Inpu
t S
ignal
3- -
- D
I6
AL
M
: Se
rv
o
A
la
rm
- -
- -
- -
- -DI7
Torque
M
o
n
itor
(IWC
0
0
E
)
Tor
que Minit
or
S
ens
or
O
N
(
S
E
N
)
To
rq
u
e
Re
fe
re
n
c
e
S
pee
d
Re
fe
re
n
c e
(s
pee
d Li
m
it
)