Axis Parameter List
Controller side axis parameters that can be read/edited by the user through the application program.
The following tables contain controller side axis parameters which can be read or written using the function blocks MC_ReadParameter, MC_ReadBoolParameter, MC_WriteParameter, MC_WriteBoolParameter, and Y_ReadStringParameter. This is a comprehensive list that contains parameters that may not be applicable for all axis types. Only the parameters listed here are accessible via the Application program.
For easier access to the parameters, ENUM type Yt_AxisPrm can be used instead of the parameter number. To use it type "Yt_ServoPrm#" followed by the label mentioned in the "Name" column. For example, when accessing AbsoluteEncoderOffset, instead of using the parameter number 1838, Yt_ServoPrm#AbsoluteEncoderOffset can be typed into the program with the same results.
S : Servo Axis
V : Virtual Axis
E : External Axis
R : Read only
R/W : Read and Write
W
: Write only
| Name | Parameter | DataType | Support | Default | Comments |
|---|---|---|---|---|---|
| AbsoluteEncoderOffset | 1838 | LREAL | S, V | R/W | LREAL#0.0 | Offset stored when executing MC_SetPosition for a servo axis configured to use an absolute encoder. (ServoPack Pn002.2.) |
| ActualPosition | 1000 | LREAL | S, V, E | R | N/A | Feedback position in user units, modulated according to the settings of 'Machine Cycle Min' and 'Machine Cycle Max' when 'Load Type' is set to rotary (infinite). |
| ActualPositionCyclic | 1005 | LREAL | S, V, E| R | N/A | Feedback position in user units, modulated according to the settings of 'Machine Cycle Min' and 'Machine Cycle Max' when 'Load Type' is set to rotary (infinite). |
| ActualPositionNonCyclic | 1006 | LREAL | S, V, E | R | N/A | Unmodulated feedback position in user units. |
| ActualTorque | 1004 | LREAL | S | R | N/A | Feedback torque in percentage of rated torque. |
| ActualVelocity | 1001 | LREAL | S, V, E | R | N/A | Feedback velocity in user units per second. |
| AmplifierModel | 1819 | STRING | S | R | N/A | Amplifier model number. Valid only for Yaskawa devices |
| AmplifierVersion |
1820 |
LREAL | S | R |
N/A
|
Amplifier Version (Revision Number) |
| AmplifierSerialNumber |
1857 |
STRING
|
S* | R | N/A | Amplifier Serial Number |
| AxisType | 1810 | LREAL | S, V, E | R | N/A | Valid only for Yaskawa devices. Returns a code corresponding to the type of axis configured. 0 = Undefined, 1=Servo, 2=VFD, 3=Counter, 4=Virtual, 5=Stepper, 6=DC Motor, 7=PulseTrain, 8=SSI Encoder |
| BufferedMotionBlocks | 1600 | LREAL | S, V | R | N/A | The number of motion blocks buffered in the motion queue. This value will increase when a motion block is executed with any of the non aborting types and decrement as each buffered block has control of the motion. |
| CamMasterCycle | 1512 | LREAL | S, V | R | 1.0 | If the axis is currently linked to a master axis for camming, this parameter indicates the cam master cycle as determined by the Cam Table currently in use. This parameter is not valid until Y_CamIn.Execute occurs. If Y_CamIn is executed while camming is already in operation, this parameter will not update until Y_CamIn.InSync is TRUE. |
| CamMasterPosition | 1500 | LREAL | S, V | R | N/A | Cam master position plus scan compensation added. See the Camming Block Diagram. |
| CamMasterScale | 1510 | LREAL | S, V | R | N/A | See the Camming Block Diagram. |
| CamMasterShift | 1511 | LREAL | S, V | R | N/A | This value holds the cumulative value of all previous Y_CamShifts, the absolute cam shift. To reset this parameter to zero, execute Y_CamShift with Y_CamShift.PhaseShift equal and opposite of the value of this parameter. See the Camming Block Diagram. |
| CamMasterShiftedCyclic | 1502 | LREAL | S, V | R | N/A | This is the master position that is fed into the cam look-up function. It includes all adjustments made from the initial master position, such as scan compensation, it is modularized for the master data in the cam table, and any shift applied via Y_CamShift. See the Camming Block Diagram. |
| CamMasterShiftedPosition | 1501 | LREAL | S, V | R | N/A | See the Camming Block Diagram. |
| CamOffset | 1531 | LREAL | S, V | R | N/A | See the Camming Block Diagram. |
| CamOffsetRemaining | 1533 | LREAL | S, V | R | N/A | If a Y_SlaveOffset is in progress, this is the remaining amount of offset to be added to the absolute CamOffset (Parameter 1531), otherwise this value is zero. |
| CamScale | 1530 | LREAL | S, V | R | 100.0 | This a multiplication factor applied to the slave data. See the Camming Block Diagram. |
| CamScaleRemaining | 1534 | LREAL | S, V | R | N/A | If a Y_CamScale is in progress, this is the remaining amount of Scaling to be added to the absolute CamScale (Parameter 1530), otherwise this value is zero. |
| CamShiftRemaining | 1513 | LREAL | S, V | R | N/A | If a Y_CamShift is in progress, this is the remaining amount of phase shift to be added to the CamMasterShift (Parameter 1511), otherwise this value is zero. |
| CamState | 1540 | LREAL | S, V | R | N/A | See CamState in the Camming Overview section of this manual. 0 = Not Engaged, 1 = Waiting to Engage, 2 = Engaging, 3 = Engaged, 4 = Waiting to Disengage, 5 = Disengaging. |
| CamTableCumulativeOutput | 1521 | LREAL | S, V | R | N/A | Initialized to 0 when the cam first engages and represents the total commanded slave distance traveled. |
| CamTableIDEngaged | 1541 | LREAL | S, V | R | 0 | Indicates the cam table currently in use by the motion engine. This number becomes valid when the CamState changes from 0 to 1. If a cam is already engaged (CamState = 3), this number becomes valid when the new table becomes engaged. |
| CamTableOutput | 1520 | LREAL | S, V | R | N/A | This is the table value selected as the synchronized position based on the master position. See the Camming Block Diagram. |
| CommandedAcceleration | 1012 | LREAL | S, V | R | N/A | Commanded acceleration in user units /second2. |
| CommandedAccelerationFiltered | 1022 | LREAL | S, V | R | N/A | Commanded acceleration in user units /second2 (Post S-curve filter.) |
| CommandedPosition | 1010 | LREAL | S, V | R | N/A | Commanded position in user units as computed by the trajectory generator. For rotary axes, it is relative to the wrapped starting point of the move (or series of buffered moves). For moves exceeding one machine cycle, this value may go outside the machine cycle range. If Y_DirectControl is used, the interpolated value will be shown. See the Examples section of Y_DirectControl. |
| CommandedPositionCyclic | 1015 | LREAL | S, V | R | N/A | Commanded position in user units, modulated according to the settings of 'Machine Cycle Min' and 'Machine Cycle Max' when axis is set to rotary type. |
| CommandedPositionNonCyclic | 1016 | LREAL | S, V | R | N/A | Unmodularized commanded position in user units regardless of whether the axis is configured as rotary or linear. |
| CommandedPositionNonCyclicFiltered | 1020 | LREAL | S, V | R | N/A | Commanded position sent to the ServoPack (Post S-curve filter.) |
| CommandedTorque | 1014 | LREAL | S, V | R | N/A | Commanded torque in percentage of rated torque. Valid only when commanding a torque using MC_TorqueControl. |
| CommandedTorqueFiltered | 1024 | LREAL | S, V | R | N/A | Commanded torque in percentage of rated torque. Valid only when commanding a torque using MC_TorqueControl. |
| CommandedVelocity | 1011 | LREAL | S, V | R | N/A | Commanded velocity in user units / second. |
| CommandedVelocityFiltered | 1021 | LREAL | S, V | R | N/A | Commanded velocity in user units / second. (Post S-curve filter.) |
| ControllerFeedForwardEnable | 1310 | BOOL | S, V | R | TRUE | Alternative of Yaskawa servo Pn109 parameter. User can enable the feedforward in either the controller or the servo. Both settings are not recommended simultaneously. |
| ControllerModel |
1849 |
STRING |
S, V, E
| R
|
N/A | Controller Model |
| ControlMode | 1325 | LREAL | S, V | R | N/A | Reports the latest commanded control mode by the motion kernel. Return type is equivalent to Yt_ControlMode. |
| EncoderModel |
1850 |
STRING
|
S, V* | R | N/A | Encoder Model |
| EncoderSerialNumber |
1859 |
STRING
|
S* | R | N/A | Encoder Serial Number |
| ExternalEncoderModel |
1851 |
STRING
|
S*
| R
|
N/A | External Encoder Model |
| ExternalEncoderVersion |
1854 |
LREAL |
S*
| R
|
N/A | External encoder firmware version |
| ExternalRawPositionCyclic | 1007 | LREAL | S, V, E | R | N/A | Applicable for External Encoder set in rotary mode only. Refer to the External Encoder Block Diagramfor details. |
| ExternalRawPositionNonCyclic | 1008 | LREAL | S, V, E | R | N/A | Applicable for External Encoder only. Refer to the External Encoder Block Diagram for details. |
| ExternalVelocityUnfiltered | 1009 | LREAL | S, V, E | R | N/A | Instantaneous external encoder velocity. Refer to the External Encoder Block Diagram for details. |
| FbOptionModel |
1853 |
STRING
|
S*
| R
|
N/A | Feedback Option Model |
| FbOptionVersion |
1856 |
LREAL |
S*
| R
|
N/A | Feedback option firmware version |
| FbPosFilterTC |
1303 |
LREAL |
S, V
| R/W
|
N/A
|
Inverter-specific Position Feedback Filter |
| FilterMovingAverage | 1301 | LREAL | S, V | R/W |
N/A
|
This value is the S-Curve time constant. The units are seconds, and the range is 0.0 to 5.0 (zero exclusive). This parameter can only be written if the axis is in the "Standstill" state. Use MC_ReadStatus to verify. |
| FilterMovingAverageEnable | 1300 | BOOL | S, V | R/W |
N/A
|
Apply the S-curve filter. This parameter must first be enabled in the Hardware configuration to be settable via the MC_WriteParameter function block via the application program. |
| HighSpeedOutputEnable | 1050 | BOOL | FALSE | Set TRUE to arm or toggle to re-arm the external encoder high speed output. | |
| HighSpeedOutputPosition | 1052 | LREAL | 0.0 | Set this value before the high speed output function is enabled. | |
| HighSpeedOutputPositionNonCyclic | 1053 | LREAL | 0.0 | This is the user unit equivalent of the raw 32 bit encoder value set in the LIO hardware for high speed output compare. | |
| HighSpeedOutputStatus | 1051 | BOOL | N/A | Status bit reflects the state of the high speed output pin | |
| LatchPositionCyclic | 1030 | LREAL | S | R | N/A | Supported for Yaskawa servos only. Reports the modularized latch position. This value is only valid if the axis is configured as rotary. |
| LatchPositionNonCyclic | 1031 | LREAL | S | R/W | N/A | Reports the unmodularized latch position regardless of whether the axis is configured as rotary or linear. Supported for Yaskawa servos only. |
| LatchPositionCyclic2 |
1032 | LREAL | N/A | Supported for devices that support simultaneous latching, when two MC_TouchProbe function blocks are used simultaneously, this parameter reports the second (TRIGGER_REF.ID=1) modularized latch position regardless of whether the axis is configured as rotary or linear. | |
| LatchPositionNonCyclic2 | 1033 | LREAL | N/A | Supported for devices that support simultaneous latching, when two MC_TouchProbe function blocks are used simultaneously, this parameter reports the second (TRIGGER_REF.ID=1) unmodularized latch position regardless of whether the axis is configured as rotary or linear. | |
| LimitAccelEnable | 1222 | BOOL | S, V | R/W | TRUE | Enable the acceleration limit function. |
| LimitAccelNegative | 1220 | LREAL | S, V | R/W | -1.797693E+308 | Negative acceleration limit. |
| LimitAccelPositive | 1221 | LREAL | S, V | R/W | 1.797693E+308 | Positive acceleration limit |
| LimitDecelEnable | 1232 | BOOL | S, V | R/W | TRUE | Enable the deceleration limit function. |
| LimitDecelNegative | 1230 | LREAL | S, V | R/W | -1.797693E+308 | Negative deceleration limit |
| LimitDecelPositive | 1231 | LREAL | S, V | R/W | 1.797693E+308 | Positive deceleration limit. |
| LimitPositionEnable | 1202 | BOOL | S, V | R/W | TRUE | Enable the position limit function. |
| LimitPositionNegative | 1200 | LREAL | S, V | R/W | -1.797693E+308 | Negative position limit in user units. |
| LimitPositionPositive | 1201 | LREAL | S, V | R/W | 1.797693E+308 | Positive position limit in user units. |
| LimitTorqueDefault | 1400 | LREAL | S | R/W | 100.0 | Default torque limit for blocks with a torque limit input. |
| LimitVelocityEnable | 1212 | BOOL |
S, V
| R/W
|
TRUE | Enable the velocity limit function. |
| LimitVelocityNegative | 1210 | LREAL |
S, V
| R/W
|
-1.797693E+308 | Negative velocity limit in user units / second. |
| LimitVelocityPositive | 1211 | LREAL |
S, V | R/W
|
1.797693E+308 | Positive velocity limit in user units / second. |
| LoadType | 1807 | BOOL |
S, V
| R
|
N/A | 0=Linear, 1=Rotary; as set in the Hardware Configuration. |
| MachineCycleLow | 1832 | LREAL |
S, V, E| R
|
N/A | If the LoadType is set for Rotary operation, this is the rollover position. If the load type is set for Linear, this value has no meaning. |
| MachineCycleHigh | 1833 | LREAL |
S, V, E| R
|
N/A | If the LoadType is set for Rotary operation, this is the rollover position. If the load type is set for Linear, this value has no meaning. |
| MotorModel | 1823 | STRING | S | R | N/A | Motor model number. Valid for Yaskawa devices. |
| MotorSerialNumber |
1858 |
STRING
|
S* | R | N/A | Motor Serial Number |
| NetworkCompensation | 1307 | BOOL |
S, V
| R
|
TRUE | This value determines if scan compensation is calculated to account for the network delay when sending commanded positions to the amplifier. Its purpose is to eliminate master / slave phase lag due to the time required to send the position data to the amplifier. Refer to the Camming Block Diagram. |
| NodeStatus | 1330 | BOOL |
S, V
| R
|
N/A | Indicates if the node (drive) is ready for operation. TRUE = Node is communicating. |
| PositionCompensationEnable | 1308 | BOOL |
S, V
| R/W
|
FALSE | Enables/disables position compensation mode. See Using Position Compensation Tables |
| PositionError | 1130 | LREAL | S | R | N/A | Position Error, following error, or difference between commanded and actual position in user units. This parameter reads the SERVOPACK monitor Un008 (Position Error Amount). |
| PositionScalePerRev | 1829 | LREAL |
S, V, E
| R
|
N/A | User units per motor revolution. |
| PositionScalePerTick | 1830 | LREAL |
S, V, E
| R
|
N/A | User units per encoder count. |
| RemainingMasterScale |
1514 |
LREAL |
S, V
| R
|
0.0 | Reserved, not operational. Use Parameter 1534 for this purpose |
| SafetyOptionModel |
1852 |
STRING |
S*
| R
|
N/A | Safety Option Module |
| SafetyOptionVersion |
1855 |
LREAL |
S*
| R
|
N/A | Safety option firmware version |
| ScanCompensation | 1305 | LREAL | E | W | 2 scans | For external encoders only. This value provides scan compensation to ensure the master and slave remain synchronized even at high speeds. Units are in seconds. The default of 2 scans was predetermined by Yaskawa and should not need adjustment in most cases. The maximum compensation is 10 scans. For example, if the network update is 2 ms, then parameter 1305 can range from 0 to 0.020000 seconds). Refer to the Camming Block Diagram. |
| SlavePosition |
1522 |
LREAL
|
S, V | R | 0.0 | Slave Position |
| SpeedOverride |
1302 |
LREAL |
S, V, E
| R
|
1.0 | Speed Override |
| VelocityFilter | 1306 | LREAL |
S, V, E
| R/W
|
0.0 | Provides a moving average filter for the feedback velocity over a specified time period. Units are in seconds. Note that the time value will be rounded to the nearest number of network scans. For example, if the network scan update is set for 2.0 ms, and the VelocityFilter is set to 0.010, then the velocity will be averaged over 5 samples. The maximum filter time is 0.100 seconds. |
The following table shows redundant parameters to follow PLCopen standard. See the comment column to check the aliases.
| Name | Parameter | DataType | Support | Default | Comments |
|---|---|---|---|---|---|
| MC_ActualVelocity |
10 |
LREAL
|
S, V, E
| R
|
0.0 | Actual Velocity (equivalent to 1001) |
| MC_CommandedPosition |
1 |
LREAL
|
S, V
| R
|
0.0 | Commanded Position(equivalent to 1010)
|
| MC_CommandedVelocity |
11 |
LREAL
|
S, V
| R
|
0.0 | Commanded Velocity(equivalent to 1011)
|
| MC_SWLimitNeg |
3 |
LREAL
|
S, V
| R/W
|
-1.797693E+308 | Software Limit Negative(equivalent to 1200) |
| MC_SWLimitPos |
2 |
LREAL
|
S, V
| R/W
|
1.797693E+308
|
Software Limit Positive(equivalent to 1201) |
* :conditional support (e.g. inverters: requires feedback encoder)