YASKAWA MP2200

4
Motion Parameters
4.3.3
Motion Monitoring Parameter Details
4-58
( 17 ) Supplemental Information
Stores the data of the parameter being read.
This parameter stores the data of the SERVOPACK parameter read using the MECHATROLINK command area. Refer to
Chapter 5 Motion Commands for details.
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 5 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 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.
(cont’d)
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).
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