YASKAWA JEPMC-MP2300-Y Series

6.3
Motion Parameter Details
6-15
IL0E
Machine Coordinate
Target Position
(TPOS)
1 = 1 reference unit
Yes Yes
6-53
IL10
Target Position
(CPOS)
1 = 1 reference unit
Yes Yes
IL12
Machine Coordinate
System Position
(MPOS)
1 = 1 reference unit
Yes Yes
IL14
32-bit Coordinate
System Position
(DPOS)
1 = 1 reference unit
Yes Yes
IL16
Machine Coordinate
Feedback Position
(APOS)
1 = 1 reference unit
Yes Yes
IL18
Machine Coordinate
Latch Position
(LPOS)
1 = 1 reference unit
Yes
IL1A
Position Error (PERR)
1 = 1 reference unit
Yes
IL1C
Target Position
Difference Monitor
1 = 1 reference unit
Yes
6-53
IL1E
POSMAX Number of
Turns
1 = 1 turn
Yes Yes
IL20
Speed Reference
Output Monitor
pulse/s
Yes 6-54
IL22 to
IL2A
－
Reserved for system use.
−− −
IW2C
Network Servo Status
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)
Yes 6-55
Bits E to F: Reserved for system use.
−− −
IW2D
Servo Alarm Code
Stores the alarm code from the SERVOPACK.
Yes 6-56
(cont’d)
Register No. Name Contents SVB SVR Detail