7
Motion Commands
7.2.1
Positioning (POSING)
7-8
[ b ] Monitoring Parameters
Parameter Name Monitor Contents SVR
IB

001
Servo ON
Indicates the Servo ON status.
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
IL

02
Warning Stores the most current warning.
IL

04
Alarm Stores the most current alarm.
IW

08
Servo Command
Type Response
Indicates the motion command that is being executed.
The response code will be 1 during POSING command execution.
IB

090
Command
Executing
Turns ON when abort processing is being performed for POSING command. Turns
OFF when abort processing has been completed.
IB

091
Command Hold
Completed
Turns ON when a deceleration to a stop has been completed as the result of setting the
Command Pause (OB

090) bit to 1 during POSING command execution.
IB

093
Command Error
End
Turns ON if an error occurs during POSING command execution.
The axis will decelerate to a stop if it is moving. Turns OFF when another command is
executed.
IB

098
Command
Execution
Completed
Always OFF for POSING command.
Use the Positioning Completed bit (IB

0C1) to confirm completion of this
command.
IB

0C0
Distribution
Completed
Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of the move command.
IB

0C1
Positioning
Completed
Turns ON when pulse distribution has been completed and the current position is
within the Positioning Completed Width. OFF in all other cases.
IB

0C3
Position Proximity
The operation depends on the setting of the Positioning Completed Width 2 (setting
parameter OL

20).
OL

20 = 0: Turns ON when pulse distribution has been completed (DEN =
ON). Otherwise, it turns OFF.
OL

20
â‰
0: Turns ON when the absolute value of the difference between MPOS
and APOS is less than the Position Proximity Setting even if pulse
distribution has not been completed.
OFF in all other cases.
R
R
R
R
R
R
R
R
R
R
R
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