Yaskawa JAPMC-MC2300 - Manual (Page 67)

4.4 General-purpose I/O Mode
4.4.1 Motion Parameters That Can be Used in General-purpose I/O Mode
4-7
4
Operation Modes
Monitoring Parameters
Register
No.
Name Description
IW 00 Run Status Bit 0: Motion Controller Operation Ready
IW 01
Parameter Number
When Range Over is
Generated
Setting parameters: 0 and onward
Fixed parameters: 1000 and onward
IL 02 Warning Bit B: Analog Adjust Not Ready Warning
IL 04 Alarm Bit 14: PG Disconnection Error
IW 0C
Position Management
Status
Bit 2: ON at Latch Completed (LCOMP)
IL 16
Machine Coordinate
System Feedback
Position (APOS) Used as the counter current position.
Range: −2 31 to 2 31 −1
Unit: 1 = 1 reference unit (pulse only)
IL 18
Machine Coordinate
System Latch Position
(LPOS) Used as the counter latch position.
Range: −2 31 to 2 31 −1
Unit: 1 = 1 reference unit (pulse only)
IL 1C
Target Position
Difference Monitor
Used as the number of incremental pulses of feedback.
Range: −2 31 to 2 31 −1
Unit: 1 = 1 reference unit (pulse only)
IW 58
General-purpose DI
Monitor
Bit 0: General-purpose DI_0
Bit 1: General-purpose DI_1
Bit 2: General-purpose DI_2
Bit 3: General-purpose DI_3
Bit 4: General-purpose DI_4
Bit 5: General-purpose DI_5
Bit 6: Reserved for system use
Bit 7: PG Wire Breaking Down Status (ON: Connected/1: Disconnected)
IW 59
General-purpose AI
Monitor 1 Range: −32768 to 32767
Unit: 1 = 0.001 V
IW 5A
General-purpose AI
Monitor 2 Range: −32768 to 32767
Unit: 1 = 0.001 V