Yaskawa MP920 User's Manual Design - Manual (Page 549)

Appendix A
A.3.3 Motion Monitor Parameters
A-34
33 Not used IL††20 − −
35 Alarms
(ALARM) IL††22 Reports alarm information.
37 Servo Driver
Alarm Code
(SVALARM) IW††24 -32768 to
32767 Error code when an absolute
position read error occurs Valid when an absolute position read error
occurs
38 Not used IW††25 − −
39 Speed Reference
Output Monitor
(RVMON) IL††26
-2 31 to 2 31 -1
1 = 1 reference unit/H scan
(For system use) √ √ √ √ √ √ √
41 Position Buffer
Read Data
(CNMON) IL††28 -2 31 to 2 31 -1 Position buffer data Valid when position
buffer read
(OB††21F) is ON.
43 Not used IL††2A − −
45 Integral Output
Monitor
(YIMON) IL††2C
-2 31 to 2 31 -1
√ √ √ √ √ √ √ √ √ √
47 Calculated Ref-
erence Coordi-
nate System
Position (POS) IL††2E -2 31 to 2 31 -1 1 = 1 reference unit √ √ √ √ √ √ √
49 Primary Lag
Monitor
(LAGMON) IL††30
-2 31 to 2 31 -1
(PI output value - primary lag
output value) √ √ √ √ √ √ √ √ √
51 Position Loop
Output Monitor IL††32
-2 31 to 2 31 -1
Position loop output value
(value prior to adding the cal-
culated feed forward value) √ √ √ √ √ √ √ √ √
53 Position
Monitor 2
(APOS2) IL††34 -2 31 to 2 31 -1 Depends on Position Moniter
2 Unit Selection
(OB††2D3).
1. OB††2D3 = 0
(Reference unit selected)
1 = 1 reference unit
2. OB††2D3 = 1
(Pulses selected)
1 = 1 pulse (OB††00
is ON) with
motion com-
mand code
enabled
selected. √ √ √ √ √ √ √
√ √ √ √
55 Not used IW††36 − −
(cont’d)
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
C
omma
nd
Disab
led
Motion Command
Code (OW††20)
Positioning External
Posi
tion
Zero Poin
t Return
Interpol
ation
La
tch
F
eed
St
ep