Yaskawa MP940 Reference Manual - Manual (Page 515)

MotionSuite™ MP940 Machine Controller Reference Manual Parameters
A-28
3 Target Position ILC002
-2
31
~2
31-1 1 = 1 pulse or 1 = 1 command unit
Update will occur even in machine lock
when 1 = 1 pulse unit
5 Incremental Target
Position ILC004
-2
31
~2
31-1 1 = 1 pulse or 1 = 1 command unit
When pulse units 1 = 1 pulse unit
7 Machine Coordinate
Latch Position ILC006
-2
31
~2
31-1 1 = 1 command unit
(1 = 1 pulse when pulse units)
9 Machine Coordinate
Feedback Position ILC008
-2
31
~2
31-1 1 = 1 command unit
(1= 1 pulse when pulse units)
Note) Not updated during machine lock
11 Position Error ILC00A
-2
31
~2
31-1 1 = 1pulse
13 Speed Reference
Output Value IWC00C -32768~32767 1 = 0.01%
14 Speed Monitor IWC00D -32768~32767 1 = 0.01%
15 Torque Monitor IWC00E -32768~32767 1 = 0.01%
16 Over Range
Parameter Number IWC00F 1~65
101~148 Motion Setting Parameter Error Number
Fixed Motion Parameter Error Number
+100
17 Number of Absolute
Encoder Turns ILC010 0~±99999 1~1 (rotations)
19 Initial Incremental
Pulses of Absolute
Encoder ILC012
-2
31
~2
31-1 1 = 1pulse
21 Servo Command
Type Response IWC014 0~65535 Currently executed motion command
(for details, see OWC020)
22 Servo Module Com-
mand Status IWC015 Bit 0: BUSY Command execution flag
Bit 1: HOLDL Command hold completion
Bit 2: DEN Feed completion
Bit 3: ZSET Zero point setting completion
Bit 4: EX_LATCH External positioning signal latch comple-
tion
Bit 5: FAIL Command error termination state
Bit 6: ZRNC Zero point return completion state
Bits 7~15: Unused
23 Number of Decimal
Places IWC016 0~5 Fixed motion parameter
Copy of “Number of Decimal Places
Below Decimal Point”
Table 9: Monitor Parameters (Continued)
No. Name
Register
Number
Bit Name
(Setting Range)
Meaning Note