YASKAWA MP2000 Series User Manual page 86

Register
Name
No.
Target Position in
Machine Coordinate
IL0E
System (TPOS)
Calculated Position in
Machine Coordinate
IL10
System (CPOS)
Machine Coordinate
System Reference
IL12
Position (MPOS)
CPOS for 32 bit
IL14
(DPOS)
Machine Coordinate
System Feedback
IL16
Position (APOS)
Machine Coordinate
System Latch
IL18
Position (LPOS)
Position Error (PERR)
IL1A
Target Position
IL1C
Difference Monitor
Number of POSMAX
IL1E
Turns
Speed Reference
IL20
Output Monitor
-
IL22
Integral Output
IL24
Monitor
Primary Lag Monitor
IL26
Position Loop Output
IL28
Monitor
IL2A
-
to
IW3F
Feedback Speed
IL40
Feedback Torque/
IL42
Thrust
IW44
-
to
IW49
The Number of
Accumulated Rota-
IL4A
tions of Absolute
Value Encoder
The Number Initial
IL4C
Incremental Pulses
IW4E
-
to
IW55
Description
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
Invalid for linear type
Unit depends on OW03, bits 0 to 3 (Speed Unit
Selection).
Reserved for system use
Unit depends on OW03, bits 0 to 3 (Speed Unit
Selection).
Unit depends on OW03, bits 0 to 3 (Speed Unit
Selection).
Stores the result of "IL24 − (Output from primary delay
element)".
Unit depends on OW03, bits 0 to 3 (Speed Unit
Selection).
Reserved for system use
Unit depends on OW03, bits 0 to 3 (Speed Unit
Selection).
Unit depends on OW03, bits C to F (Torque Unit
Selection).
Reserved for system use
1 = 1 rev
1 = 1 pulse
Reserved for system use
5.3 Motion Parameter Lists
5.3.3 Monitoring Parameter List
Refer-
ence
Page
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