YASKAWA MP2100 Series User Manual page 354

(i) Position Management Status
Position Management Status
IW 0C
IW 0C
Bit 0
Bit 1
Bit 3
Bit 4
Bit 5
Bit 9
(j) Position Information
Machine Coordinate Target Position (TPOS)
IL 0E
Stores the target position in the machine coordinate system managed by the Motion Module.
Calculated Target Position (CPOS)
IL 10
Stores the calculated position in the machine coordinate system managed by the Motion Module.
Machine Coordinate System Position (MPOS)
IL 12
Stores the reference position in the machine coordinate system managed by the Motion Module. MPOS is always
equal to CPOS.
Machine Coordinate Feedback Position (APOS)
IL 16
APOS is always equal to CPOS.
Target Position Difference Monitor
IL 1C
Stores the target position difference managed by the Motion Module.
POSMAX Number of Turns
IW 1E
This parameter is valid for an infinite length axis.
The count stored in this parameter goes up or down every time the current position exceeds the Maximum Value of
Rotary Counter (POSMAX) (fixed parameter 10).
Range
−
Distribution Completed (DEN)
OFF: Distributing pulses
ON: Distribution completed
Positioning Completed (POSCOMP)
OFF: Outside positioning completed width
ON: In positioning completed width
Position Proximity (NEAR)
OFF: Outside position proximity range
ON: In position proximity range
Zero Point Position (ZERO)
OFF: Outside zero point position range
ON: In zero point position range
Zero Point Return (Setting) Completed (ZRNC)
OFF: Zero point return (setting) not completed
ON: Zero point return (setting) completed
POSMAX Turn Number Presetting Completed (TPRSE)
OFF: Preset not completed
ON: Preset completed
Range
31 31
−2 −1
to 2
Range
31 31
−2 to 2 −1
Range
31 31
−2 −1
to 2
Range
31 31
−2 −1
to 2
Range
31 31
−2 −1
to 2
Range
31 31
−2 to 2 −1
11.2 Motion Parameters
Unit
−
Unit
Reference unit
Unit
Reference unit
Unit
Reference unit
Unit
Reference unit
Unit
Reference unit
Unit
Rev
11
11-15