Yaskawa MotionWorks IEC User Manual
Page 354
PLCopenPlus Function Blocks for Motion Control 2013-04-13
346
LoadType
1807
BOOL
R
N/A
0=Linear, 1=Rotary; as set in the
Hardware Configuration
MachineCycle
1833
LREAL
R
N/A
If the LoadType is set for Rotary
operation, this is the rollover
position. If the load type is set for
Linear, this value has no
meaning. Firmware Version 1.2.2 is
required.
MechatrolinkCompensation 1307
BOOL
R
TRUE
Only applicable for camming and gearing
modes and for MECHATROLINK
axes. This value determines if scan
compensation is calculated to account
for the network delay when sending
commanded positions to the
amplifier. Its purpose is to eliminate
master / slave phase lag due to the time
required to send the position data to the
amplifier. Firmware Version 1.2.3 is
required. Refer to the
MotorModel
1823
STRING
R
N/A
Motor model number. Requires FW
2.0. Use
YMotion firmware library
NodeStatus
1330
BOOL
R
N/A
Indicates if the node (drive) is powered
up and the MECHATROLINK cable is
properly connected. TRUE = Node is
communicating.
OptionMonitor
1312
LREAL
R
N/A
Returns the value of the servo
amplifier's Un Monitor as selected by
Pn825 according to the MECHATROLINK
Communication Manual SIEPS80000054,
section 5.7.3. For example, to read the
RMS torque output, set Pn825 to
UINT#16#19. On MP2300iec
controllers, firmware version 1.2.2 is
required. On the MP2600iec, firmware
version 2.1.0 is required.
PositionCompensated
CommandPosition
1020
LREAL
R
N/A
Commanded position output from the
position compensation function
PositionCompensation
Enable
1308
BOOL
R/W FALSE
Enables/disables position compensation
mode