Yaskawa MP2000 - Manual (Page 111)

TECHNICAL NOTE
Bit 0 Working latchedfirst High when Latch is detected
Bit 1 Working rdaSpdErr RDA error. Motor rated speed is set to zero
Bit 2 Working rdaResErr RDA error. Encoder resolution is set to zero
Bit 3 Working inrngAxis Goes high for one scan if Axis input is in range.
Bit 4 Working rdaMODok Goes high for one scan if RDA Module value is in range.
Bit 5 Working rdaAXISok Goes high for one scan if RDA Axis value is in range.
Bit 6 Working rdaAxisErr Goes High if RDA module or axis number is not in range.
Bit 7 Working delaypulse Goes high for one scan one second after first high scan.
Bit 8 Working axisinerr Goes high for one scan if Axis input is out of range.
Bit 9 Working offSwtch
Goes high for one scan after execute bit goes low or the servo
faults out.
Bit A Working oneshot38a Reserved
Bit B Working Oneshot2b Reserved
AL00003 Working posLast Axis position on last scan.
AL00005 Working cntPPulse Counts moved each scan.
AL00007 Working scancomp Adjusted value due to scan time delay.
AL00009 Working lScratch Reserved
AL00011 Working oldTarget Commanded position Last scan (ILC**10)
AL00013 Working
targetChang
e
Change in target position between scans
AL00015 Working oldChange Change in target position last scan
AL00017 Working Speed
Actual velocity stored to RDA ML3**16 in Counts
per sec.
AW00019 Working Reservation. Reserved
AF00020 Working temp1 Reserved
AF00022 Working scanTime Scan time in milliseconds
AL00024 Working o mpos_o Reserved
AL00026 Working
oldComman
d
Commanded position previous scan
AL00028 Working
deltaComma
nd
Change from previous scan
AL00030 Working
o
mpos_Com
manded
Reserved
AL00032 Working
mPosComm
anded
Actual Set position stored in RDA ML3**08
AL00034 Working latchpos
Latched position value converted for rotary mode
and stored in RDA ML3**46
AL00036 Working velChange Change in velocity from the previous scan
AL00038 Working oldVelocity Velocity at previous scan
AL00040 Working accel Actual acceleration or deceleration stored to RDA
AW00042 Working rdaMult Value for address offset to locate proper RDA
AW00043 Working axisMult Value for address offset to locate proper Axis
File: MP2000_IndividualFunctionDocument_RevC 111/168
Doc Number: eng.MCD.05.101
11/17/2005