Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 92)

4.3 Motion Parameter Lists
4.3.3 Monitoring Parameter List
4-16
IL 16
Machine Coordinate
System Feedback
Position (APOS)
1 = 1 reference unit Yes Yes
4.4.3 ( 10 )
IL 18
Machine Coordinate
System Latch
Position (LPOS)
1 = 1 reference unit Yes −
IL 1A
Position Error
(PERR)
1 = 1 reference unit Yes −
IL 1C
Target Position
Difference Monitor
1 = 1 reference unit − Yes
IL 1E
Number of POSMAX
Turns 1 = 1 turn
Invalid for linear type
Yes Yes
IL 20
Speed Reference
Output Monitor
pulse/s Yes − 4.4.3 ( 11 )
IL 22 to
IL 2A
− Reserved for system use. − − −
IW 2C Servo Driver Status
Bit 0: ALM (Alarm)
Bit 1: WARN (Warning)
Bit 2: CMDRY (Command Ready)
Bit 3: SVON (Servo ON)
Bit 4: PON (Main Power Supply ON)
Bit 5: MLOCK (Machine Lock)
Bit 6: ZPOINT (Zero Position)
Bit 7: PSET (Locating Complete)
(Positioning completed/V-CMP (Speed Coincidence)
Bit 8: DEN (Commanded Profile Complete)
(Distribution completed)/SZPD (Zero Speed)
Bit 9: T_LIM (Torque Restriction)
Bit A: L_CMP (Latch Complete)
Bit B: NEAR (Locating Neighborhood)
(NEAR Position)/V_LIM (Speed Limit)
Bit C: P_SOT (Position Software Limit)
Bit D: N_SOT (Negative Software Limit)
Yes − 4.4.3 ( 12 )
Bits E and F: Reserved for system use − − −
IW 2D
Servo Driver Alarm
Code
Stores the alarm code from the SERVOPACK. Yes − 4.4.3 ( 13 )
IW 2E
Servo Driver I/O
Monitor
Bit 0: Forward Side Limit Switch Input
Bit 1: Reverse Side Limit Switch Input
Bit 2: Deceleration Dog Switch Input
Bit 3: Encoder Phase-A Signal Input
Bit 4: Encoder Phase-B Signal Input
Bit 5: Encoder Phase-C Signal Input
Bit 6: EXT1 Signal Input
Bit 7: EXT2 Signal Input
Bit 8: EXT3 Signal Input
Bit 9: Brake State Output
Bit A: Stop Signal (HWBB)
Available only for SGDV SERVOPACKs except
SGDV-
E1 SERVOPACKs.
Bit B: Reserved for system use
Bit C: CN1 Input Signal (IO12)
Bit D: CN1 Input Signal (IO13)
Bit E: CN1 Input Signal (IO14)
Bit F: CN1 Input Signal (IO15)
Yes − 4.4.3 ( 14 )
IW 2F
Servo Driver User
Monitor Information
Bits 0 to 3: Monitor 1
Bits 4 to 7: Monitor 2
Bits 8 to B: Monitor 3
Bits C to F: Monitor 4
Yes − 4.4.3 ( 15 )
(cont’d)
Register No. Name Contents SVB SVR Reference