Yaskawa MotionWorks IEC - Manual (Page 352)

PLCopenPlus Function Blocks for Motion Control 2013-04-13 344
average filter.
CommandedTorque 1014 LREAL R N/A Commanded torque in percentage of
rated torque. Valid only when
commanding a torque using
MC_TorqueControl .
CommandedTorqueFiltered 1024 LREAL R N/A Commanded torque in percentage of
rated torque. Valid only when
commanding a torque using
MC_TorqueControl .
CommandedVelocity 1011 LREAL R N/A Commanded velocity in user units /
second.
CommandedVelocityFiltered 1021 LREAL R N/A Commanded velocity in user units /
second. (Post S-curve filter.)
ControllerFeedForward
Enable 1310 BOOL R/W TRUE Alternative of servo amplifier's Pn109
parameter. User can enable this gain in
either the controller of servo
amplifier. Both settings are not
recommended simultaneously.
ExternalRawPositionCyclic 1007 LREAL R N/A Applicable for External Encoder set in
rotary mode only. Refer to the
external
encoder block diagram for details
(Requires FW version 1.2.3 or higher)
ExternalRawPositionNon
Cyclic 1008 LREAL R N/A Applicable for External Encoder
only. Refer to the
external encoder
block diagram for details. (Requires FW
version 1.2.3 or higher)
ExternalVelocityUnfiltered 1009 LREAL R N/A Instantaneous external encoder
velocity. Refer to the
external encoder
block diagram for details. (Requires FW
version 1.2.3 or higher)
FilterMovingAverage 1301 LREAL R/W This value represents the S-Curve time
constant. The units are seconds, and the
range is 0.0 to 5.0 ( Zero
exclusive). This parameter should only
be written if the axis is in the "Standstill"
state. Use
MC_ReadStatus to verify.
FilterMovingAverageEnable 1300 BOOL R/W Apply S-Curve filter.
HighSpeedOutputEnable 1050 BOOL R/W FALSE Set TRUE to arm or toggle to re-arm the
external encoder high speed output.
HighSpeedOutputPosition 1052 LREAL R/W 0.0 Set this value before the high speed
output function is enabled.