Yaskawa MotionWorks+ Windows Software - Manual (Page 126)

Programming Tools MotionWorks+™
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mPosition_External_Shifted - This is the value that is fed into the cam look up table.
It is modularized and includes the absolute cam shift. It is in table units of the master,
and represents the exact position of the master as viewed from the cam function’s per-
spective. This value may be useful for forcing the slave to engage immediately, without
waiting for a window to appear. For these situations, use this system variable in the
CAM engage block’s “External Position” property.
mPosition_Latch_External - The location of the external encoder in user units when
the external latch input occurred. This value is only valid after mState_External_Latch
has a value of "1", indicating that the input has occurred. If the axis is configured as a
rotary axis, then this value will represent the latch position within the machine cycle.
Note: If a non-integer machine is used, this value will become inaccurate over time.
mPosition_Latch_External_Counts - The external encoder latch in counts. The value
is only valid after mState_External_Latch has a value of “1”. This value is always
unmodularized.
mPosition_Latch_Main - The location of the main encoder (SGDH) when the main
latch input occurred. This value is only valid after mState_Main_Latch has a value of
"1", indicating that the input has occurred.
mPosition_Latch_Main_Counts - The main encoder (SGDH) latch in counts. The
value is only valid after mState_Main_Latch has a value of “1”. This value is always
unmodularized.
mPosition_Main_Mod_Latch_Counts - This is the modularized version of the latch
on the main encoder. If the system properties are not configured for a Rotary axis, this
value may be invalid.
mPosition_Target - The commanded position of the servo in user units. This is where
the servo should be (calculated position) at each high scan. The profiler determines this
value based on the acceleration, speed, and deceleration properties.
mProgram_HighScan_Current - The amount of time in milliseconds/100 that it actu-
ally took to execute all the code for all programs actively running in high scan.