Yaskawa MP920 Motion Module - Manual (Page 230)

5 SVA Module Specifications and Handling
5.4.3 Motion Monitoring Parameters
5-88
9 Machine Coor-
dinate System
Feedback
Position IL††08
-2 31 to 2 31 -1
Indicates the current monitor position.
It is valid when an H or L Drawing is executed.
Note: It is not valid when an A Drawing is executed.
See 2 of Supplemental Explanation 4.
11 Position Error
(PERR) IL††0A
-2
31
to 2
31
-1
Indicates the position error (number of pulses held).
(Position error = target position
− current position for each scan). It is
valid in Zero Point Return Mode, Position Control Mode, and Phase
Control Mode.
13 Speed Refer-
ence Output
Monitor
(SPDREF) IW††0C -32768 to 32767 Indicates the value output at the servo drive as the speed reference
output value.
14 Speed Monitor
(NFB) IW††0D -32768 to 32767 Scales and indicates the A/D conversion results of input analog signals
at the input voltage at 100% speed monitor (A/D) setting.
Speed monitor value = (A/D input voltage
× 10000) / input voltage
setting at 100% speed monitor (A/D)
Example:
Input voltage setting at 100% speed monitor (A/D) = 6 V
When the actual A/D input voltage = 3 V, then (3 V
× 10000) / 6.0 V =
5000 is indicated.
15 Not used. IW††0E − −
16 Out of Range
Parameter
Number
(ERNO) IW††0F Motion setting
parameter:
1 to 65
Motion fixed
parameter:
101 to 148 Indicates the most recent setting parameter number that exceeded the
range in OW††00 to OW††3F motion setting parameter or motion
fixed parameter settings.
• Motion setting parameters: 1 to 65
• Motion fixed parameters: 101 to 148
When motion fixed parameters are used, this parameter indicates the
parameter number plus 100.
17 Cumulative
Rotations from
Absolute En-
coder
(ABSREV) IW††10
-2 31 to 2 31 -1
Indicates the cumulative number of rotations received from the abso-
lute encoder.
It is valid only when using an absolute encoder.
19 Initial Incre-
mental Pulses
from Absolute
Encoder
(IPULSE) IL††12 -2 31 to 2 31 -1 Indicates the initial number of incremental pulses received from the
absolute encoder.
It is valid only when using an absolute encoder.
21 Motion Com-
mand Re-
sponse Code
(MCM-
DRCODE) IW††14 0 to 65535 Indicates the OW††20: Motion Command Code that is currently
executing.
Refer to OW††20 for details on motion commands.
It is valid in Position Control Mode when an OW††20: Motion
Command Code is used.
22 Motion Com-
mand Status
(MCMDSTS) IW††15 Monitors the executing status of an OW††20: Motion Command Code.
It is valid in Position Control Mode when an OW††20: Motion Command Code is used.
The bit configuration is described below.
Bit 0 Command Exe-
cuting Flag
(BUSY) Indicates the motion command status. This bit is used for abort status.
0: READY (completed)
1: BUSY (processing)
Table 5.7 Motion Monitoring Parameters (cont’d)
No. Name Register
Number
Setting Range/
Bit Name
Description