Yaskawa MotionWorks IEC - Manual (Page 349)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 341
Axis Parameter List
The following tables contain controller-side axis parameters which can be
read or written using the function blocks MC_ReadParameter,
MC_ReadBoolParameter, MC_WriteParameter, MC_WriteBoolParameter,
and Y_ReadStringParameter. This is a comprehensive list that contains
parameters that may not be applicable for all types of axes. For each
parameter the following information is available:
Name Prm DataType R/W Default Comments
ActualPosition 1000 LREAL R N/A Feedback position in user units.
ActualPositionCyclic 1005 LREAL R N/A Requires firmware version 1.0.6 or
greater.
ActualPositionNonCyclic 1006 LREAL R N/A Requires firmware version 1.0.6 or
greater.
ActualTorque 1004 LREAL R N/A Feedback torque in percentage of rated
torque.
ActualVelocity 1001 LREAL R N/A Feedback velocity in user units per
second.
AmplifierModel 1819 STRING R N/A Amplifier model number.
AxisType 1810 LREAL R N/A Returns a code corresponding to the
type of axis
configured. 0=Servo, 1=VFD, 2=Exter
nal Encoder, 3=Virtual, 4=Stepper
BufferedMotionBlocks 1600 LREAL R N/A The number of motion blocks buffered in
the motion queue. This value will
increase when a motion block is
executed with any of the non aborting
types and decrement as each buffered
block has control of the motion.
CamMasterCycle 1512 LREAL R 1.0 If the axis is currently linked to a master
axis for camming, this parameter
indicates the cam master cycle as
determined by the Cam Table currently
in use. This parameter is not valid until
Y_CamIn.Execute occurs. If Y_CamIn is
executed while camming is already in