YASKAWA JEPMC-MP2300-Y Series User Manual page 305

Register No. Name
Machine Coordinate
Target Position
IL 0E
(TPOS)
Target Position
IL 10
(CPOS)
Machine Coordinate
IL 12 System Position
(MPOS)
32-bit Coordinate
System Position
IL 14
(DPOS)
Machine Coordinate
Feedback Position
IL 16
(APOS)
Machine Coordinate
IL 18 Latch Position
(LPOS)
IL 1A Position Error (PERR)
Target Position
IL 1C
Difference Monitor
POSMAX Number of
IL 1E
Turns
Speed Reference
IL 20
Output Monitor
IL 22 to
－
IL 2A
IW 2C Network Servo Status
Servo Alarm Code
IW 2D
Contents
1 = 1 reference unit
1 = 1 reference unit
1 = 1 reference unit
1 = 1 reference unit
1 = 1 reference unit
1 = 1 reference unit
1 = 1 reference unit
1 = 1 reference unit
1 = 1 turn
pulse/s
Reserved for system use.
Bit 0: Alarm Occurred (ALM)
Bit 1: Warning Occurred (WARNING)
Bit 2: Command Ready (CMDRDY)
Bit 3: Servo ON (SVON)
Bit 4: Main Power ON (PON)
Bit 5: Machine Lock (MLOCK)
Bit 6: Zero Point Position (ZPOINT)
Bit 7: Positioning Completed (PSET)/Speed Coincidence
(V-CMP)
Bit 8: Distribution Completed (DEN)/Zero Speed (ZSPD)
Bit 9: Torque Being Limited (T_LIM)
Bit A: Latch Completed (L_CMP)
Bit B: Position Proximity (NEAR)/Speed Limit (V_LIM)
Bit C: Positive Soft Limit (Positive Software Limit)
(P_SOT)
Bit D: Negative Soft Limit (Negative Software Limit)
(N_SOT)
Bits E to F: Reserved for system use.
Stores the alarm code from the SERVOPACK.
6.3 Motion Parameter Details
(cont'd)
SVB SVR Detail
Yes Yes
Yes Yes
Yes Yes
6-53
Yes Yes
Yes Yes
Yes
Yes
Yes
6-53
Yes Yes
Yes 6-54
− − −
Yes 6-55
− − −
Yes 6-56
6-15