Yaskawa JAPMC-MC2300 - Manual (Page 87)

5.3 Motion Parameter Lists
5.3.3 Monitoring Parameter List
5-15
5
Motion Parameters
IL 0E
Target Position in
Machine Coordinate
System (TPOS)
1 = 1 reference unit
P.5-48
IL 10
Calculated Position in
Machine Coordinate
System (CPOS)
1 = 1 reference unit
IL 12
Machine Coordinate
System Reference
Position (MPOS)
1 = 1 reference unit
IL 14
CPOS for 32 bit
(DPOS)
1 = 1 reference unit
IL 16
Machine Coordinate
System Feedback
Position (APOS)
1 = 1 reference unit
IL 18
Machine Coordinate
System Latch
Position (LPOS)
1 = 1 reference unit
IL 1A Position Error (PERR) 1 = 1 reference unit
IL 1C
Target Position
Difference Monitor
1 = 1 reference unit
IL 1E
Number of POSMAX
Turns 1 = 1 turn
Invalid for linear type
IL 20
Speed Reference
Output Monitor Unit depends on OW 03, bits 0 to 3 (Speed Unit
Selection).
P.5-50
IL 22 - Reserved for system use - - - -
IL 24
Integral Output
Monitor Unit depends on OW 03, bits 0 to 3 (Speed Unit
Selection).
P.5-50
IL 26 Primary Lag Monitor
Unit depends on OW 03, bits 0 to 3 (Speed Unit
Selection).
Stores the result of "IL
24 − (Output from primary delay
element)".
IL 28
Position Loop Output
Monitor Unit depends on OW 03, bits 0 to 3 (Speed Unit
Selection).
P.5-50
IL 2A
to
IW 3F
- Reserved for system use - - - -
IL 40 Feedback Speed
Unit depends on OW 03, bits 0 to 3 (Speed Unit
Selection).
P.5-50
IL 42
Feedback Torque/
Thrust Unit depends on OW 03, bits C to F (Torque Unit
Selection).
P.5-50
IW 44
to
IW 49
- Reserved for system use - - - -
IL 4A
The Number of
Accumulated Rota-
tions of Absolute
Value Encoder
1 = 1 rev P.5-50
IL 4C
The Number Initial
Incremental Pulses
1 = 1 pulse P.5-50
IW 4E
to
IW 55
- Reserved for system use - - - -
Register
No.
Name Description
Normal
O
perat
ion
Mo
de
Si
mulat
ion Mod
e
G
enera
l-pu
rpose I/
O Mod
e
Refer-
ence
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