Yaskawa MP2200 Machine Controller - Manual (Page 136)

4 Motion Parameters
4.2.3 Monitoring Parameter List
4-16
IL††42
Torque (Thrust) Reference
Monitor
Unit is according to OW††03, bits 12 to 15 (Torque Unit). Yes Yes Yes
IW††44
to IW††49
－ Reserved
IL††4A
Absolute Encoder
Cumulative Revolutions
1 = 1 revolution Yes
IL††4C
Initial Number of
Incremental Pulses
1 = 1 pulse Yes
IW††4E
to IW††55
－ Reserved
IL††56 Fixed Parameter Monitor
Stores the data of the fixed parameter when FIXPRM-RD has
been specified in the Motion Subcommand.
Yes Yes Yes
IW††58
General-purpose Digital
Input (DI) Monitor
Bit 0: General-purpose DI_0 Yes
Bit 1: General-purpose DI_1 Yes
Bit 2: General-purpose DI_2 Yes
Bit 3: General-purpose DI_3 Yes
Bit 4: General-purpose DI_4 Yes
Bit 5: General-purpose DI_5 Yes
Bit 6: Reserved
Bit 7: PG Disconnected Status (ON: Normal/OFF: Error)
Yes
Bits 8 to F: Reserved
IW††59 General-purpose AI Monitor 1
1 = 0.001 V
In factory adjustment mode, stores the contents of the FPGA
register.
Yes
IW††5A General-purpose AI Monitor 2
1 = 0.001 V
In factory adjustment mode, stores the contents of the FPGA
register.
Yes
IW††5B
to IW††5C
－ Reserved
IL††5E
Absolute Position at Power
OFF (Lower 2 Words)
1 = 1 pulse Yes Yes
IL††60
Absolute Position at Power
OFF (Upper 2 Words)
1 = 1 pulse Yes Yes
IL††62
Modularized Position at Power
OFF (Lower 2 Words)
1 = 1 pulse Yes Yes
IL††64
Modularized Position at Power
OFF (Upper 2 Words)
1 = 1 pulse Yes Yes
IL††66 Monitor Data Status
Status for execution of the Write monitor data command.
(1: Normal response/
−1: Error)
Yes
IL††68 Monitor Data Read data Yes
IW††6A
to IW††6F
－ Reserved
IW††70
to IW††7F
Response Buffer for
Transparent Command Mode Stores the response data when MECHATROLINK Servo
commands are specified directly.
Yes
(cont’d)
Register No. Name Description
SVB
-01
SVA
-01
SVR