YASKAWA MP2000 Series User Manual page 121

5.4 MP2000 Series Machine Controller Parameter Details
5.4.3 Motion Monitoring Parameter Details
( 11 ) Speed Information
IL20
Speed Reference Output Monitor
Stores the speed reference that is being output.
Description
IL24
Integral Output Monitor
Stores the output value of PI control operation in the control loop for position control and phase control.
This bit is valid in position control mode and phase control mode.
Description
IL26
Primary Lag Monitor
Stores the result of subtraction "Integral output (IL
Description
IL28
Position Loop Output Monitor
Stores the position loop output value (value without adding the position feedforward calculated value).
Description
( 12 ) Servo Driver Information
IL40
Feedback Speed
Stores the feedback speed.
The value is determined by the Feedback Speed Movement Averaging Time Constant (fixed parameter 42) and unit set
from the difference with the Machine Coordinate System Feedback Position (monitoring parameter IL16) in each
Description
scan.
IL42
Feedback Torque/Thrust
Stores the value of General-purpose AI Monitor 2 (IW
Description
( 13 ) Position Information 2
IL4A
The Number of Accumulated Rotations of Absolute Value Encoder
Stores the accumulated number of rotations read out from the absolute encoder when the power supply is turned
Description
ON or when the online absolute data read function is executed.
IL4C
The Number of Initial Incremental Pulses
Stores the initial incremental pulses read out from the absolute encoder when the power supply is turned ON or
Description
when the online absolute data read function is executed.
5-50

Refer to 9.1 SVA-01 Module Control Block Diagram
This bit is valid in position control mode and phase control mode.
This bit is valid in position control mode and phase control mode.
 The setting unit for this parameter depends on the Speed Unit Selection (OW03, bits 0 to 3), but
the result of applying the speed unit setting is not shown here.
 The setting unit for this parameter depends on the Torque Unit Selection (OW03, bits C to F), but
the result of applying the torque unit setting is not shown here.
Range
Depends on the speed unit set in Function Setting 1
31 31
−2 −1
to 2
(setting parameter OW
Range
Depends on the speed unit set in Function Setting 1
31 31
−2 −1
to 2
(setting parameter OW
on page 9-2
for information on control loop.
Range
Depends on the speed unit set in Function Setting 1
31 31
−2 −1
to 2
(setting parameter OW
 24) − Primary lag element output".
Range
Depends on the speed unit set in Function Setting 1
31 31
−2 −1
to 2
(setting parameter OW
Range
31 31
−2 to 2 −1
Range
31 31
−2 −1
to 2
 5A) converted in the selected torque units.
Range
31 31
−2 −1
to 2
Range
31 31
−2 −1
to 2
Unit

03, bits 0 to 3)
Unit

03, bits 0 to 3)
Unit

03, bits 0 to 3)
Unit

03, bits 0 to 3)
Unit
Depends on the speed unit set in
Function Setting 1

(setting parameter OW 03,
bits 0 to 3)
Unit
Depends on the torque unit set in
Function Setting 1
(setting parameter OW03, bits
C to F)
Unit
rev
Unit
pulse