YASKAWA MP2100 Series User Manual

7 Motion Parameters
7.2.3 Motion Monitoring Parameter Details
7-38
(11) Reference Monitor
1
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 MP2100/MP2100M manages the positions using this machine
coordinate system.
IL

16
Machine Coordinate Feedback Position (APOS)
Range Unit
−
2
31
to 2
31
−
1
Reference unit
Stores the feedback position in the machine coordinate system managed by the MP2100/MP2100M.
• 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) (fixed
parameter 10) – 1) is stored.
IL

18
Machine Coordinate Latch Position (LPOS)
Range Unit
−
2
31
to 2
31
−
1
Reference unit
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
Stores the following error (Machine Coordinate System Position (IL

12) – Machine Coordinate Feedback Position
(IL

16)) managed by the MP2100/MP2100M.
IL

1E
POSMAX Number of Turns
Range Unit
−
2
31
to 2
31
−
1
rev
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 Maximum Value of Rotary
Counter (POSMAX) (fixed parameter 10).
IL

20
Speed Reference Output Monitor
Range Unit
−
32768 to 32767
(
−
2
31
to 2
31
−
1)
pulse/s
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.
TERMS

YASKAWA MP2100 Series Specifications

General

Brand	YASKAWA
Model	MP2100 Series
Category	Controller
Language	English