YASKAWA MP2200

4
Motion Parameters
4.3.3
Motion Monitoring Parameter Details
4-52
( 10 ) Position Information
IW

0C
(cont’d)
Bit 9
POSMAX Turn Number Presetting Completed (TPRSE)
This bit turns ON when the POSMAX Preset bit in the RUN Commands (setting parameter OW

00,
bit 6) is set to 1 and the POSMAX Number of Turns has been preset with the Preset Data of POSMAX
Turn (setting parameter OL

4C).
OFF: Preset not completed
ON: Preset completed
(cont’d)
IL

0E
Machine Coordinate Target Position (TPOS)
Range Unit
−
2
31
to 2
31
−
1
Reference unit
Stores the target position in the machine coordinate system
1
managed by the Motion Module. This is the target position per scan
for INTERPOLATE or LATCH commands.
• This parameter will be set to 0 when the power supply is turned ON.
• The data is refreshed even when the machine lock mode is enabled.
（Note） This parameter will not be reset even when an infinite length axis type is set.
IL

10
Target Position (CPOS)
Range Unit
−
2
31
to 2
31
−
1
Reference unit
Stores the calculated position in the machine coordinate system managed by the Motion Module. The position data stored in this
parameter is the target position for each scan.
• This parameter will be set to 0 when the power supply is turned ON.
• The data is refreshed even when the machine lock mode is enabled.
（Note） 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

12
Machine Coordinate System Position (MPOS)
Range Unit
−
2
31
to 2
31
−
1
Reference unit
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 parameter is not updated while the machine is in lock mode. (When the machine lock mode is enabled, the position
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
32-bit Calculated Position (DPOS)
Range Unit
−
2
31
to 2
31
−
1
Reference unit
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 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 Motion Module.
• This parameter will be set to 0 when a Zero Point Return (ZRET) is executed.
（Note） 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.
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