Yaskawa MP920 User's Manual Design User Manual
Page 414
7.2 Parameters for Each Motion Module
7-19
7
9
Machine Coordi-
nate 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.
9
9
9
11
Position Error
(PERR)
IL 0A
−2
31
to 2
31
−1
1 = 1 pulse
9
9
13 Speed Refer-
ence Output Mon-
itor (%)
(SPDREF)
IW 0C
−32768 to 32767
1 = 0.01%
9
9
14 Speed Monitor
(NFB)
IW 0D
−32768 to 32767
1 = 0.01%
9
15 Not used
IW 0E
16 Out of Range Pa-
rameter Number
(ERNO)
IW 0F
1 to 63
101 to 148
Motion setting parameter error number
Motion fixed parameter error number +
100
9
9
9
9
17 Cumulative Rota-
tions from Abso-
lute Encoder
(ABSREV)
IL 10
0 to
±99999
1 = 1 rev (rotation)
9
9
19 Initial Incremen-
tal Pulses from
Absolute Encoder
(IPULSE)
IL 12
−2
31
to 2
31
−1
1 = 1 pulse
9
9
21 Motion Com-
mand Response
Code
(MCMDRCODE)
IW 14
0 to 65535
Motion command that is being executed
(See OW
20 for details.)
9
9
9
9
22 Motion Com-
mand Status
(MCMDSTS)
IW 15
Bit 0: BUSY
Command executing fllag
9
9
9
9
Bit 1: HOLDL
Command hold completed
9
9
9
9
Bit 2: DEN
Distriction completed
9
9
9
9
Bit 3: ZSET
Zero point setting completed
9
9
9
9
Bit 4: EX_LATCH External positioning signal latch com-
pleted
9
9
9
Bit 5: FAIL
Command error end
9
9
9
9
Bit 6: ZRNC
Zero point return completed
9
9
9
9
Bits 7 to 15:
Not used
23 Number of Digits
Below Decimal
Point Monitor
(DECNUMM)
IW 16
0 to 5
Copies motion fixed parameter Number of
Digits Below Decimal Point.
9
9
9
9
24 Position Control
Status
(POSSTS)
IW 17
Bit 0: MLKL
Machine locked
9
9
9
9
Bit 1: ZERO
Zero point position
9
9
9
9
Bit 2: PSET2
Second in-position completed
9
9
9
9
Bit 3: ABSLDE
ABS system infinite length position con-
trol data load completed
9
9
9
Table 7.4 Motion Monitoring Parameters (cont’d)
No
Name
Register
No.
Bit
(Setting Range)
Meaning
Remarks
SVA-
01A
SVA
-02A
SVB
-01
PO-
01