YASKAWA MP2000 Series User Manual

4.4 MP2000 Series Machine Controller Parameter Details
4.4.3 Motion Monitoring Parameter Details
4-67
Motion Parameters
 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.
( 11 )Reference Monitor
IL12
Machine Coordinate System Reference Position (MPOS)
Range Unit
−2
31
to 2
31
−1
Reference unit
Description
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.
• 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)
Range Unit
−2
31
to 2
31
−1
Reference unit
Description
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 target position (CPOS).
For both finite and infinite length axes, the value is refreshed between −2
31
and 2
31
−1.
IL16
Machine Coordinate System Feedback Position (APOS)
Range Unit
−2
31
to 2
31
−1
Reference unit
Description
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.
• When an infinite length axis type is selected, a range of 0 to (Maximum Value of Rotary Counter (POSMAX) − 1) is
stored.
• Refer to Chapter 9 Absolute Position Detection when using an absolute encoder.
IL18
Machine Coordinate System Latch Position (LPOS)
Range Unit
−2
31
to 2
31
−1
Reference unit
Description
Stores the latch position when the latch has been completed.
IL1A
Position Error (PERR)
Range Unit
−2
31
to 2
31
−1
Reference unit
Description
Stores the following error (the result of Machine Coordinate System Reference Position (MPOS) (IL12) − Machine
Coordinate System Feedback Position (APOS) (IL16) converted to reference unit) managed by the Motion Module.
IL1C ( only)
Target Position Difference Monitor
Range Unit
−2
31
to 2
31
−1
Reference unit
Description
Stores the number of pulses distributed each scan.
IW1E
Number of POSMAX Turns
Range Unit
−2
31
to 2
31
−1
turn
Description
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
Reset Position (POSMAX).
 Invalid for linear type
(cont’d)
R
R
R
R
IL20
Speed Reference Output Monitor
Range Unit
−2
31
to 2
31
−1
pulse/s
Description
Stores the speed reference that is being output.
This parameter monitors the speed being output to the MECHATROLINK. This parameter will be 0 for interpolation or
phase control.

YASKAWA MP2000 Series Specifications

General

Brand	YASKAWA
Model	MP2000 Series
Category	Controller
Language	English