Yaskawa MP2200 Machine Controller - Manual (Page 178)

4 Motion Parameters
4.3.3 Motion Monitoring Parameter Details
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( 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).