YASKAWA MP2000 Series User Manual

4.4 MP2000 Series Machine Controller Parameter Details
4.4.3 Motion Monitoring Parameter Details
4-71
Motion Parameters
( 17 ) Additional Information
IL40
Feedback Speed
Range Unit
−2
31
to 2
31
−1
Depends on speed unit.
Description
Stores the feedback speed.
The value is determined by the moving average time constant (fixed parameter 42) and unit set from the difference with
the Machine Coordinate System Feedback Position (APOS) (monitoring parameter IL16) in each scan.
 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.
IL42
Feedback Torque/Thrust
Range Unit
−2
31
to 2
31
−1
Depends on the Torque Unit
Description
Stores the value of the torque reference.
The Feedback Torque/Thrust is achieved using the Servo command expansion area and can be executed only with the
MECHATROLINK-II, 32-byte Mode communication method.
 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.
 To use this parameter, the relevant servo parameter must be set to the value given in the following
table.
The Controller will automatically set the parameter when the MECHATROLINK connection is estab-
lished between the Controller and SERVOPACK. Do not change the automatically set value.
IW44
Latch Completion Sequence Number
Range Unit
0 to 32767 1 = 1 time
Description
Available for SGDV and SGD7S SERVOPACKs with MECHATROLINK-II communications (32 bytes).
IW45
Latch Completion Sequence Number
Range Unit
0 to 32767 1 = 1 cycle
Description
Available for SGDV and SGD7S SERVOPACKs with MECHATROLINK-II communications (32 bytes).
IL56
Fixed Parameter Monitor
Range Unit
−2
31
to 2
31
−1
−
Description
Stores the data of the specified fixed parameter number.
This parameter stores the data of the fixed parameter when the Read Fixed Parameter (FIXPRM-RD) is selected in the
Motion Subcommand (setting parameter OW0A).
(cont’d)
R
R
SERVOPACK Relevant Servo Parameter Set Value
SGDH + NS100 or SGDH + NS115 Pn003 (Function Selection Application Switches 3)
0002H
SGDS, SGDV, or SGD7S Pn824 (Option Monitor 1 Selection)
R

YASKAWA MP2000 Series Specifications

General

Brand	YASKAWA
Model	MP2000 Series
Category	Controller
Language	English