YASKAWA MP2100 Series User Manual page 198

IL 3A
Stores the data of the parameter being read.
This parameter stores the data of the SERVOPACK parameter read using the MECHATROLINK subcommand area. Refer
to Chapter 8 Motion Commands for details.
IW 3F
Stores the type of motor that is actually connected.
0: Rotary motor
1: Linear motor
IL 40
Stores the feedback speed.
The unit for this parameter is set in the Speed Units in Function 1 (setting parameter OW
The value is determined by the moving average time constant and unit set from the difference with the Machine Coordinate
Feedback Position (monitoring parameter IL
IL 42
Stores the value of the torque reference.
The Torque (Thrust) Reference Monitor is achieved using the Servo command expansion area and can be executed only
with the MECHATROLINK-II, 32-byte Mode communication method.
(17) Supplemental Information
IL 56
Stores the data of the specified fixed parameter number.
This parameter stores the data of the fixed parameter when the Read Fixed Parameter (FIXPRM-RD) is selected in the
Motion Subcommand (setting parameter OW
Auxiliary Servo User Constant
Range
31 31
−2 to 2 −1
Motor Type
Range
0, 1
Feedback Speed
Range
31 31
−2 to 2 −1
16) in each scan.
Torque (Thrust) Reference Monitor
Range
31 31
Unit (OW
−2 −1
to 2
Fixed Parameter Monitor
Range
31 31
−2 to 2 −1
0A).
7.2 Motion Parameter Details
Unit
−
Unit
−
Unit
Depends on the Speed
Unit.
03, bits 0 to 3).
Unit
Depends on the Torque
03, bits C to
F).
Unit
−
7
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