YASKAWA MP2000 Series - Page 151

4.4 MP2000 Series Machine Controller Parameter Details
4.4.3 Motion Monitoring Parameter Details
4-72
( 18 ) Absolute Infinite Length Axis Position Control Information
( 19 ) Servo Driver Transmission Reference Mode
IL5E
Encoder Position When the Power is OFF (Lower 2 words)
Range Unit
−2
31
to 2
31
−1
pulse
Description
Stores information used for infinite length axis position control when an absolute encoder is used.
The encoder position is normally stored in 4 words.
IL60
Encoder Position When the Power is OFF (Upper 2 words)
Range Unit
−2
31
to 2
31
−1
pulse
Description
Same as for IL5E.
IL62
Pulse Position When the Power is OFF (Lower 2 words)
Range Unit
−2
31
to 2
31
−1
pulse
Description
Stores information used for infinite length axis position control when an absolute encoder is used.
These parameters store the axis position managed by the Machine Controller in pulses in 4 words.
IL64
Pulse Position When the Power is OFF (Upper 2 words)
Range Unit
−2
31
to 2
31
−1
pulse
Description
Same as for IL62.
IW70 to IW7E
Response Buffer for Servo Driver Transmission Reference Mode
Range Unit
−−
Description
This area is used for response data when MECHATROLINK Servo commands are specified directly.
• MECHATROLINK-I and MECHATROLINK-II, 17-byte Mode: Data area = IW70 to IW77
• MECHATROLINK-II, 32-byte Mode: Data area = IW70 to IW7E