Yaskawa JAPMC-MC2300 - Manual (Page 122)

5.4 MP2000 Series Machine Controller Parameter Details
5.4.3 Motion Monitoring Parameter Details
5-50
( 11 ) Speed Information
( 12 ) Servo Driver Information
( 13 ) Position Information 2
IL††20
Speed Reference Output Monitor
Range Unit
−2 31 to 2 31 −1
Depends on the speed unit set in Function Setting 1
(setting parameter OW †† 03, bits 0 to 3)
Description Stores the speed reference that is being output.
IL††24
Integral Output Monitor
Range Unit
−2 31 to 2 31 −1
Depends on the speed unit set in Function Setting 1
(setting parameter OW †† 03, bits 0 to 3)
Description
Stores the output value of PI control operation in the control loop for position control and phase control.
This bit is valid in position control mode and phase control mode.
ΠRefer to 9.1 SVA-01 Module Control Block Diagram on page 9-2 for information on control loop.
IL††26
Primary Lag Monitor
Range Unit
−2 31 to 2 31 −1
Depends on the speed unit set in Function Setting 1
(setting parameter OW †† 03, bits 0 to 3)
Description
Stores the result of subtraction “Integral output (IL †† 24) − Primary lag element output”.
This bit is valid in position control mode and phase control mode.
IL††28
Position Loop Output Monitor
Range Unit
−2 31 to 2 31 −1
Depends on the speed unit set in Function Setting 1
(setting parameter OW †† 03, bits 0 to 3)
Description
Stores the position loop output value (value without adding the position feedforward calculated value).
This bit is valid in position control mode and phase control mode.
IL††40
Feedback Speed
Range Unit
−2 31
to 2
31 −1
Depends on the speed unit set in
Function Setting 1
(setting parameter OW †† 03,
bits 0 to 3)
Description
Stores the feedback speed.
The value is determined by the Feedback Speed Movement Averaging Time Constant (fixed parameter 42) and unit set
from the difference with the Machine Coordinate System Feedback Position (monitoring parameter IL††16) in each
scan.
Œ The setting unit for this parameter depends on the Speed Unit Selection (OW††03, bits 0 to 3), but
the result of applying the speed unit setting is not shown here.
IL††42
Feedback Torque/Thrust
Range Unit
−2 31 to 2 31 −1
Depends on the torque unit set in
Function Setting 1
(setting parameter OW††03, bits
C to F)
Description
Stores the value of General-purpose AI Monitor 2 (IW †† 5A) converted in the selected torque units.
Œ The setting unit for this parameter depends on the Torque Unit Selection (OW††03, bits C to F), but
the result of applying the torque unit setting is not shown here.
IL††4A
The Number of Accumulated Rotations of Absolute Value Encoder Range Unit
−2 31 to 2 31 −1 rev
Description
Stores the accumulated number of rotations read out from the absolute encoder when the power supply is turned
ON or when the online absolute data read function is executed.
IL††4C
The Number of Initial Incremental Pulses Range Unit
−2 31 to 2 31 −1 pulse
Description
Stores the initial incremental pulses read out from the absolute encoder when the power supply is turned ON or
when the online absolute data read function is executed.