Yaskawa MP2000 - Manual (Page 145)

TECHNICAL NOTE
<RDPARAM> Parameter List
The following tables show the accessible parameters by RDPARAM. # 001-#999 are
PLC Open specification and above # 1000 are Yasukawa specification.
RDA# Data name Details
005 Movement Type 0: Rotary 1: Liner
006 Position Period Length of Period for rotational systems. [count]
007 Set Position Commanded position. [count]
008 Act Position Actual position. [count]
009 Max Velocity Maximum velocity. [count/sec]
010 Set Velocity Commanded velocity. [count/sec]
011 Act Velocity Actual Velocity of axes. [count/sec]
012 Set Acceleration Commanded acceleration. [count/sec 2 ]
013 Act Acceleration Actual acceleration. [count/sec 2 ]
014 Max Acceleration Maximum acceleration. [count/sec 2 ]
015 Set Deceleration Commanded deceleration. [count/sec 2 ]
016 Act Deceleration Actual deceleration. [count/sec 2 ]
017 Max Deceleration Maximum deceleration. [count/sec 2 ]
018 Set S-Curve Filter Commanded S-Curve Filter [ms] (S curve time)
019 Act S-Curve Filter Actual S-Curve Filter [ms] (S curve time)
020 Max S-Curve Filter Maximum S-Curve filter [ms] (S curve time)
021 Act Torque Actual Torque [0.01% of rated torque]
027 HW Limit Enable Enable / disable hardware end switch (to be used after
)
028 Capt Position Capture position [count]
029 Capture Occurred Capture signal occurred (reset with writing)
030 Ramp Shape
Shape of Acc/Dec profile.
0 = Trapezoid; 1= S-Shape; rest supplier dependent
031 Axis State
State of the Axis
0: reserved for power off situation
1:ErrorStopped Motion
2: Stopped Motion
3: Standstill
4: Discrete motion
5: Continuous motion
File: MP2000_IndividualFunctionDocument_RevC 145/168
Doc Number: eng.MCD.05.101
11/17/2005