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4.4 MP2000 Series Machine Controller Parameter Details
4.4.3 Motion Monitoring Parameter Details
4-71
Motion Parameters
( 17 ) Additional Information
IL
40
Feedback Speed
Range
Unit
−
2
31
to 2
31
−
1
Depends on speed unit.
Description
Stores the feedback speed.
The value is determined by the moving average time constant (fixed parameter 42) and unit set from the difference with
the Machine Coordinate System Feedback Position (APOS) (monitoring parameter IL
16) in each scan.
The setting unit for this parameter depends on the Speed Unit Selection (OW
03, bits 0 to 3), but
the result of applying the speed unit setting is not shown here.
IL
42
Feedback Torque/Thrust
Range
Unit
−
2
31
to 2
31
−
1
Depends on the Torque Unit
Description
Stores the value of the torque reference.
The Feedback Torque/Thrust is achieved using the Servo command expansion area and can be executed only with the
MECHATROLINK-II, 32-byte Mode communication method.
The setting unit for this parameter depends on the Torque Unit Selection (OW
03, bits C to F), but
the result of applying the torque unit setting is not shown here.
To use this parameter, the relevant servo parameter must be set to the value given in the following
table.
The Controller will automatically set the parameter when the MECHATROLINK connection is estab-
lished between the Controller and SERVOPACK. Do not change the automatically set value.
IW
44
Latch Completion Sequence Number
Range
Unit
0 to 32767
1 = 1 time
Description
Available for SGDV and SGD7S SERVOPACKs with MECHATROLINK-II communications (32 bytes).
IW
45
Latch Completion Sequence Number
Range
Unit
0 to 32767
1 = 1 cycle
Description
Available for SGDV and SGD7S SERVOPACKs with MECHATROLINK-II communications (32 bytes).
IL
56
Fixed Parameter Monitor
Range
Unit
−
2
31
to 2
31
−
1
−
Description
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).
(cont’d)
R
R
SERVOPACK
Relevant Servo Parameter
Set Value
SGDH + NS100 or SGDH + NS115 Pn003 (Function Selection Application Switches 3)
0002H
SGDS, SGDV, or SGD7S
Pn824 (Option Monitor 1 Selection)
R