Yaskawa MotionWorks+ Windows Software - Manual (Page 117)

MotionWorks+™ Programming Tools
111
Internal Data Definition
Monitors
mAcceleration_Linear_Rate - The current acceleration rate of the servo in MP user
units/s
2
. This value is back calculated from the controller units of “mSec to rated
speed.” Any of the motion blocks set acceleration, and the setting can be verified by
checking this system variable. If it does not agree, it is likely that the original setting
was out of range and thus limited by the system.
mAcceleration_SCurveTime - The acceleration S Curve setting in milliseconds. The
lower the number, the less the filtering; the higher the number, the smoother the S-Curve
smoothing. A given move will take longer by the amount of this variable times two
(acceleration & deceleration.)
mAlarm_Battery - A status bit for the lithium battery used for memory backup. A "0"
indicates that the battery is OK, a "1" indicates that the battery voltage is low and should
be replaced.
mAlarm_Servo - A status bit for the SGDH amplifier. A "0" indicates no alarm, a "1"
indicates that there is an alarm, and mAlarm_Servo_Code should be checked.
sLimit_Speed_Positive — calculated calculated MP user units/s R/W MF32132
sLimit_Torque -300.00 -327.68 327.67 % rated torque R/W OWC002
sMachineCycle_External 1 0.000001 2147483647 Ext user units R/W MF31122
sMachineCycle_Main 1 0.000001 2147483647 MP user units R/W MF31012
sPosition_CompletionWindow — calculated calculated MP user units R/W MF32124
sPosition_Virtual_Counts 0 -2147483648 2147483647 Ext User Units R/W ML31068
sSlaveOffset_Mode 0 0 1 configuration R/W MB313011
sSpeed_Virtual — 0 200.00 Ext user units/s R/W MF31070
sTorque_Commanded 0 -327.68 327.67 % rated torque R/W OWC01B
Table 2: Parameters and System Variables (Continued)
Name Default Minimum Maximum Units R/W Address