YASKAWA JEPMC-MP2300-Y Series User Manual page 348

6 Motion Parameters
6.4.3 Motion Monitoring Parameter Details
IL 40
R
Feedback Speed
Stores the feedback speed.
The value is determined by the moving average time constant (fixed parameter 42) and unit set from the difference with
the Machine Coordinate Feedback Position (monitoring parameter IL
Description
IL 42
R
Torque (Thrust) Reference Monitor
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.
Description
( 17 ) Supplemental Information
IL 56
R
Fixed Parameter Monitor
Stores the data of the specified fixed parameter number.
Description 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
( 18 ) Absolute Infinite Length Axis Position Control Information
IL 5E
Absolute Position at Power OFF (Lower 2 words)
Stores information used for infinite length axis position control when an absolute encoder is used.
Description
The encoder position is normally stored in 4 words.
IL 60
Absolute Position at Power OFF (Upper 2 words)
Same as for IL
Description
IL 62
Modularized Position at Power OFF (Lower 2 words)
Stores information used for infinite length axis position control when an absolute encoder is used.
Description
These parameters store the axis position managed by the Machine Controller in pulses in 4 words.
IL 64
Modularized Position at Power OFF (Upper 2 words)
Same as for IL
Description
( 19 ) Transparent Command Mode
IW 70 to IW 7E
Response Buffer for Transparent Command Mode
This area is used for response data when MECHATROLINK Servo commands are specified directly.
・ MECHATROLINK-I and MECHATROLINK-II, 17-byte Mode: Data area = OW
Description
・ MECHATROLINK-II, 32-byte Mode: Data area = IW
6-58
The setting unit for this parameter depends on the Speed Units (OW
applying the speed unit setting is not shown here.
The setting unit for this parameter depends on the Torque Unit Selection (OW
the result of applying the torque unit setting is not shown here.
5E.
62.
Setting Range
31 31
−2 −1
to 2
16) in each scan.
Setting Range
31 31
−2 −1
to 2
Setting Range
31 31
−2 −1
to 2
0A).
Setting Range
31 31
−2 −1
to 2
Setting Range
31 31
−2 −1
to 2
Setting Range
31 31
−2 −1
to 2
Setting Range
31 31
−2 −1
to 2
Setting Range
−
70 to IW 7E
Setting Unit
Depends on speed unit.
03, bits 0 to 3), but the result of
Setting Unit
Depends on the Torque Unit
(OW 03 bits C to F).
03, bits C to F), but
Setting Unit
－
Setting Unit
pulse
Setting Unit
pulse
Setting Unit
pulse
Setting Unit
pulse
Setting Unit
−
70 to OW 77