Yaskawa LEGEND-MC - Manual (Page 257)

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LEGEND-MC User’s Manual
Command Definition units min max default
_PF Encoder position format (see PF command) configuration -8.4 10.4 10.4
_PRx Current incremental distance to move (Even
if move set by PA) counts -2147483648 2147483647 0
_QL Returns the last position latched on the
auxiliary encoder counts -2147483648 2147483647 0
_RC Status of record mode status 0= NOT
RECORDING
1=RECORDING 0= NOT
RECORDING
_RD Array index that record mode will use next index 0 7999 0
_RLx Encoder value of last latched position counts -2147483648 2147483647 0
_RPx Current commanded position of the motor counts -2147483648 2147483647 0
_SCx The Stop Code of the axis code 0 150 1
_SPx Speed parameter of the axis counts/sec 0 8000000 25000
_TA Alarm code from LEGEND amplifier
(requires special amp firmware code 0 255 153
_TB Status information from controller byte 0 255 1
_TC1 Error code and message from controller number 0 255 0
_TDx Current auxiliary encoder position counts -2147483648 2147483647 n/a
_TEx Difference between commanded & actual
axis position counts -2147483648 2147483647 n/a
_TIx 8 inputs as a decimal or hex value (x = input
bank 0-7) byte 0 255 n/a
TIME Counter since SMC2000 powered on servo cycles 0 2147483647 0
_TLx Torque limit of axis voltage 0 9.9988 9.9988
_TM Servo update cycle for all axes uSec 250 20000 1000
_TN Position of first tangent point counts -2147483648 2147483647 0
_TPx Current encoder position of axis counts -2147483648 2147483647 n/a
_TSx Status of switches for axis byte 0 255 n/a
_TTx Current output voltage to amplifier voltage -9.9988 9.9988 0
_TVx Velocity of axis (averaged over 256 servo
cycles) counts/sec 0 8000000 n/a
_TWx Time limit that program will wait for axis to
get to target position (MCx) milliseconds -1 32766 32766
_UL Number of variables available n/a 0 254 254
_VA acceleration value for vector mode counts/sec 2 1024 68431360 256000
_VD Deceleration value for vector mode counts/sec 2 1024 68431360 256000
_VE Length of vector (all moves in coordinated
move sequence) counts 0 2147483647 0
_VF Setting of variable formatting n/a 0 10.4 10.4
_VM Number of free locations in vector mode
buffer n/a 0 511 511
_VPx Absolute coordinate of the axis in the last
segment counts -2147483648 2147483647 0
_VR Vector speed ratio n/a 0 10 1
_VS Vector Speed counts/sec 2 8000000 25000
_VT S curve smoothing value for vector mode constant 0.004 1 1
_XQx Current line number being executed (x =
thread #) line number -1 499 n/a
_ZS Current subroutine depth number 0 16 n/a