YASKAWA MP2100 Series User Manual

7.2 Motion Parameter Details
7-43
7
(17) Supplemental Information
IL

3A
Auxiliary Servo User Constant
Range Unit
−
2
31
to 2
31
−
1
−
Stores the data of the parameter being read.
This parameter stores the data of the SERVOPACK parameter read using the MECHATROLINK subcommand area. Refer
to Chapter 8 Motion Commands for details.
IW

3F
Motor Type
Range Unit
0, 1 −
Stores the type of motor that is actually connected.
0: Rotary motor
1: Linear motor
IL

40
Feedback Speed
Range Unit
−
2
31
to 2
31
−
1
Depends on the Speed
Unit.
Stores the feedback speed.
The unit for this parameter is set in the Speed Units in Function 1 (setting parameter OW

03, bits 0 to 3).
The value is determined by the moving average time constant and unit set from the difference with the Machine Coordinate
Feedback Position (monitoring parameter IL

16) in each scan.
IL

42
Torque (Thrust) Reference Monitor
Range Unit
−
2
31
to 2
31
−
1
Depends on the Torque
Unit (OW

03, bits C to
F).
Stores the value of the torque reference.
The Torque (Thrust) Reference Monitor is achieved using the Servo command expansion area and can be executed only
with the MECHATROLINK-II, 32-byte Mode communication method.
IL

56
Fixed Parameter Monitor
Range Unit
−
2
31
to 2
31
−
1
−
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).

YASKAWA MP2100 Series Specifications

General

Brand	YASKAWA
Model	MP2100 Series
Category	Controller
Language	English