YASKAWA MP2100 Series User Manual page 193

7 Motion Parameters
7.2.3 Motion Monitoring Parameter Details
Stores the feedback position in the machine coordinate system managed by the MP2100/MP2100M.
• This parameter will be set to 0 when a Zero Point Return (ZRET) is executed.
When an infinite length axis type is selected, a range of 0 to (Maximum Value of Rotary Counter (POSMAX) (fixed
parameter 10) – 1) is stored.
Stores the latch position when the latch has been completed.
Stores the following error (Machine Coordinate System Position (IL
(IL 16)) managed by the MP2100/MP2100M.
This parameter is valid for an infinite length axis.
The count stored in this parameter goes up and down every time the current position exceeds the Maximum Value of Rotary
Counter (POSMAX) (fixed parameter 10).
(11) Reference Monitor
Stores the speed reference that is being output.
This parameter monitors the speed being output to the MECHATROLINK. This parameter will be 0 for interpolation or
phase control.
1
Machine Coordinate System
TERMS
The basic coordinate system that is set according to Zero Point Return (ZRET) command execution or Zero Point
Setting (ZSET) command execution. The MP2100/MP2100M manages the positions using this machine
coordinate system.
7-38
Machine Coordinate Feedback Position (APOS)
IL 16
−2
Machine Coordinate Latch Position (LPOS)
IL 18
−2
Position Error (PERR)
IL 1A
−2
POSMAX Number of Turns
IL 1E
−2
Speed Reference Output Monitor
IL 20
−32768 to 32767
(−2
Range
31 31
Reference unit
to 2 −1
Range
31 31
Reference unit
−1
to 2
Range
31 31
Reference unit
−1
to 2
12) – Machine Coordinate Feedback Position
Range
31 31
−1
to 2
Range
31 31
to 2 −1)
Unit
Unit
Unit
Unit
rev
Unit
pulse/s