YASKAWA MP2000 Series User Manual page 120

IL12
Machine Coordinate System Reference Position (MPOS)
Stores the reference position in the machine coordinate system managed by the Motion Module.
• This parameter will be set to 0 when the power supply is turned ON.
Description • This data is not updated when the machine lock mode is enabled. (When the machine lock mode is enabled, the posi-
tion reference data is not output externally.)
• When the machine lock mode function is not used, this position is the same as that in IL10.
IL14
CPOS for 32 bit (DPOS)
Stores the reference position in the machine coordinate system managed by the Motion Module.
For a finite length axis, this is the same as the calculated position (CPOS).
Description
For both finite and infinite length axes, the value is refreshed between −2
IL16
Machine Coordinate System Feedback Position (APOS)
Stores the feedback position in the machine coordinate system managed by the Motion Module.
• This parameter will be set to 0 when a Zero Point Return (ZRET) is executed.
Description
• When an infinite length axis type is selected, a range of 0 to (Maximum Value of Rotary Counter (POSMAX) − 1) is
stored.
IL18
Machine Coordinate System Latch Position (LPOS)
Stores the latch position when the latch has been completed.
Description
IL1A
Position Error (PERR)
Stores the following error (the result of Machine Coordinate System Reference Position (IL12) − Machine Co-
Description
ordinate System Feedback Position (IL16) converted to reference unit) managed by the Motion Module.
IL1C
Target Position Difference Monitor
Stores the distribution segment calculated each 500 μs cycle.
Description
IW1E
Number of POSMAX Turns
This parameter is valid for an infinite length axis.
The count stored in this parameter goes up and down every time the current position exceeds the Infinite Length Axis
Description
Reset Position (POSMAX).
 Invalid for linear type.
 Terminology: Machine Coordinate System
The basic coordinate system that is set according to Zero Point Return (ZRET) command execution or Zero Point Setting
(ZSET) command execution. The Machine Controller manages the positions using this machine coordinate system.
5.4 MP2000 Series Machine Controller Parameter Details
5.4.3 Motion Monitoring Parameter Details
Range
31 31
−2 to 2 −1
Range
31 31
−2 −1
to 2
31 31
−1.
and 2
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
Range
31 31
−2 −1
to 2
Unit
Reference unit
Unit
Reference unit
Unit
Reference unit
Unit
Reference unit
Unit
Reference unit
Unit
Reference unit
Unit
rev
5
5-49