Yaskawa MP920 User's Manual Design - Manual (Page 547)

Appendix A
A.3.3 Motion Monitor Parameters
A-32
A.3.3 Motion Monitor Parameters
The following table lists motion monitor servo parameters.
No. Name Register
Number
Setting
Range
Meaning Control Mode Where Data Is Valid
Zero Point Return Mode S
pee
d Control Mode
To
rq
ue Control
Mod
e
Pha
se C
ontrol
Mode
Position Control Mode
Motion Command
Code (OB††008)
Motion
Co
mma
nd
Disab
led
Motion Command
Code (OW††20)
Positioning External
Posi
tion
Zero Poin
t Return
Interpol
ation
La
tch
F
eed
St
ep
1 RUN Status
(RUNSTS) IW††00 Reports the SVA Module operation status.
2 General-purpose
DI Monitors
(SVSTS) IW††01 Reports the status of general-purposeDI signals, or input signals from SERVOPACK.
3 Calculated Posi-
tion in Machine
Coordinate
System
(CPOS) IL††02
-2 31 to 2 31 -1
1 = 1 pulse or 1 = 1 reference
unit
1 = 1 pulse for pulses
Updated when the machine is
locked. √ √ √ √ √ √ √ √ √ √
5 Target Position
Difference Mon-
itor (PTGDIF) IL††04
-2 31 to 2 31 -1
1 = 1 pulse or 1 = 1 reference
unit
1 = 1 pulse for pulses √ √ √ √ √ √ √ √ √ √
7 Machine Coordi-
nate System
Latch Position
(LPOS) IL††06
-2 31 to 2 31 -1
1 = 1 reference unit
(1 = 1 pulse for pulses) √ √ √ √ √ √ √ √ √ √ √
9 Machine Coordi-
nate System
Feedback Posi-
tion (APOS) IL††08
-2 31 to 2 31 -1
1 = 1 reference units
(1 = 1 pulse for pulses)
Note: Will not be updated if
the machine is locked.
√ √ √ √ √ √ √ √ √ √ √ √
11 Position Error
(PERR) IL††0A
-2
31
to 2
31
-1
1 = 1 reference unit
(1 = 1 pulse for pulses) √ √ √ √ √ √ √ √ √ √
13 Speed Reference
Output Monitor
(SPDREF) IW††0C -32768 to
32767 1 = 0.01% √ √ √ √ √ √ √ √ √ √ √ √
14 Speed Monitor
(NFB) IW††0D -32768 to
32767 1 = 0.01%
Note: Valid only with a 2-axis
SVA Module.
√ √ √ √ √ √ √ √ √ √ √ √
15 Not used IW††0E − −
16 Out of Range
Parameter Num-
ber (ERNO) IW††0F 1 to 63
101 to 148 Set motion parameter error
number
Fixed motion parameter error
number √ √ √ √ √ √ √ √ √ √ √ √