YASKAWA MP2000 Series - Page 134

4.4 MP2000 Series Machine Controller Parameter Details
4.4.2 Motion Setting Parameter Details
4-55
Motion Parameters
( 29 ) SERVOPACK User Monitor
OW4E
Servo User Monitor Setting
Setting Range Setting Unit Default Value
−−0E00H
Description
Bit 4 to
Bit 7
Monitor 2
Monitor 2 is used with the MECHATROLINK-I and the MECHATROLINK-II in 17-byte Mode when bit 0
of OW02 is 1.
0:Reference position in command coordinate system (reference unit) (default)
1:Reference position in machine coordinate system (reference unit)
2:Following error (reference unit)
3:Feedback position in machine coordinate system (reference unit)
4:Feedback latch position in machine coordinate system (reference unit)
5:Reference position in command coordinate system (reference unit)
6:Target position in command coordinate system (reference unit)
7:
8:Feedback speed (position/torque control: reference units/s, speed control: maximum speed/40000000 hex)
9:Command speed (position/torque control: reference units/s, speed control: maximum speed/40000000
hex)
A:Target speed (position/torque control: reference units/s, speed control: maximum speed/40000000 hex)
B:Torque reference (position/speed control: reference units/s, torque control: maximum torque/40000000
hex)
C:
D:
E:Option Monitor 1
F:Option Monitor 2
(The information that can be monitored will differ depending on individual SERVOPACK specifications.
Refer to the relevant SERVOPACK user’s manual for details.)
Bit C to
Bit F
Monitor 4
Monitor 4 is used only with the MECHATROLINK-II in 32-byte Mode.
0 to F: Same as for Monitor 2.
Position
Phase
Speed
Torque