6
Motion Parameters
6.4.3
Motion Monitoring Parameter Details
6-52
( 8 ) Motion Subcommand Status
( 9 ) Position Management Status
IW
0B
Motion Subcommand Status
Setting Range Setting Unit
－－
Description
Bit 0
Command Executing (BUSY)
OFF: READY (completed)
ON: BUSY (processing)
This bit indicates the motion subcommand status.
This bit turns ON during execution of commands that have been completed or during abort processing.
Bit 3
Command Error Occurrence (FAIL)
OFF: Normal completion
ON: Abnormal completion
This bit turns ON if motion subcommand processing does not complete normally.
Bit 8
Command Execution Completed (COMPLETE)
OFF: Normal execution not completed
ON: Normal execution completed
This bit turns ON when motion subcommand processing was completed normally.
IW
0C
Position Management Status
Setting Range Setting Unit
－－
Description
Bit 0
Distribution Completed (DEN)
OFF: Distributing pulses.
ON: Distribution completed.
This bit turns ON when pulse distribution has been completed for a move command. This bit turns ON when the
SERVOPACK parameter Distribution Completed (monitoring parameter IB
2C8) turns ON and the SVB’s
internal distribution processing is completed.
Bit 1
Positioning Completed (POSCOMP)
OFF: Outside Positioning Completed Width.
ON: In Positioning Completed Width.
This bit turns ON when pulse distribution has been completed and the current position is within the Positioning
Completed Width (i.e., after SERVOPACK Positioning Completed (IB
2C7) turns ON).
Bit 2
Latch Completed (LCOMP)
OFF: Latch not completed.
ON: Latch completed.
This bit turns OFF when a new latch command is executed and turns ON when the latch has been completed.
The latched position is stored as the Machine Coordinate Latch Position (monitoring parameter IL
18).
Bit 3
Position Proximity (NEAR)
OFF: Outside position proximity range.
ON: In position proximity range.
The operation of this bit depends on the setting of Positioning Completed Width 2 (setting parameter
OL
20).
・
OL
20 = 0: This bit turns ON when pulse distribution has been completed (monitoring parameter
IB
0C0).
・
OL
20
≠
0: This bit turns ON when the result of subtracting the Machine Coordinate Feedback Position
(IL
16) from the Machine Coordinate System Position (IL
12) is less than the Position Completed
Width 2, even if pulse distribution has not been completed.
R
R
R
R
R
R
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