7.2 Motion Parameter Details
7-43
7
(17) Supplemental Information
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 8 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 the 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.
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).
