Yaskawa MP920 Motion Module - Manual (Page 139)

4.2 Parameter List by Module
4-19
4
9 Machine Coor-
dinate System
Feedback Posi-
tion (APOS) IL††08
-2 31 to 2 31 -1
1 = 1 reference unit
(1 = 1 pulse for pulse unit)
Note: Will not be updated if the machine is
locked.
√ √ √ −
11 Position Error
(PERR) IL††0A
-2 31 to 2 31 -1
1 = 1 pulse √ √ − −
13 Speed Refer-
ence Output
Monitor
(SPDREF) IW††0C -32768 to 32767 1 = 0.01% √ √ − −
14 Speed Monitor
(NFB) IW††0D -32768 to 32767 1 = 0.01% − √ − −
15 Not used. IW††0E − − − − − −
16 Out of Range
Parameter
Number
(ERNO) IW††0F 1 to 63
101 to 148 Motion setting parameter error number
Motion fixed parameter error number + 100 √ √ √ √
17 Cumulative
Rotations from
Absolute
Encoder
(ABSREV) IL††10 0 to ±99999 1 = 1 rotation √ √ − −
19 Initial Incremen-
tal Pulses from
Absolute
Encoder
(IPULSE) IL††12 -2 31 to 2 31 -1 1 = 1 pulse √ √ − −
21 Motion Com-
mand Response
Code
(MCMD-
RCODE) IW††14 0 to 65535 Motion command that is currently executing.
(Refer to OW††20 for details.) √ √ √ √
22 Motion
Command
Status
(MCMDSTS) IW††15 Bit 0: BUSY Command Executing Flag √ √ √ √
Bit 1: HOLDL Command Hold Completed √ √ √ √
Bit 2: DEN Distribution Completed √ √ √ √
Bit 3: ZSET Zero Point Setting Completed √ √ √ √
Bit 4: EX_LATCH External Positioning Signal Latched √ √ √ −
Bit 5: FAIL Command Error End √ √ √ √
Bit 6: ZRNC Zero Point Return Completed √ √ √ √
Bits 7 to 15 Not used. − − − −
23 Number of Dig-
its Below
Decimal Point
Monitor
(DECNUMM) IW††16 0 to 5 Copies motion fixed parameter Number of Dig-
its Below Decimal Point. √ √ √ √
Table 4.4 Motion Monitoring Parameters (cont’d)
No. Name Register
Number
Setting Range
(Bit Name)
Meaning Remarks SVA
-01A
SVA
-02 A
SVB
-01
PO-
01