YASKAWA MP2100 Series User Manual page 199

7 Motion Parameters
7.2.3 Motion Monitoring Parameter Details
(18) Absolute Infinite Length Axis Position Control Information
Stores information used for infinite length axis position control when an absolute encoder is used.
These parameters store the encoder position in 4 words.
Same as for IL
Stores information used for infinite length axis position control when an absolute encoder is used.
These parameters store the axis position managed by the MP2100/MP2100M in pulses in 4 words.
Same as for IL
(19) Transparent Command Mode
IW
This area is used for response data when MECHATROLINK Servo commands are specified directly.
• MECHATROLINK-I and MECHATROLINK-II, 17-byte Mode: Data area = IW
• MECHATROLINK-II, 32-byte Mode: Data area = IW
7-44
Absolute Position at Power OFF (Low Value)
IL 5E
−2
Absolute Position at Power OFF (High Value)
IL 60
−2
5E.
Modularized Position at Power OFF (Low Value)
IL 62
−2
Modularized Position at Power OFF (High Value)
IL 64
−2
62.
Command Buffer for Transparent Command Mode
70 to IW 7E
−2
Range
31 31
to 2 −1
Range
31 31
to 2 −1
Range
31 31
−1
to 2
Range
31 31
to 2 −1
Range
31 31
−1
to 2
70 to IW
Unit
pulse
Unit
pulse
Unit
pulse
Unit
pulse
Unit
−
70 to IW 77
7E