YASKAWA JEPMC-MP2300-Y Series

7.2
Motion Command Details
7-73
( 4 ) Timing Charts
[ a ] Normal End
[ b ] Error End
7.2.19 Monitor SERVOPACK Alarm History (ALM_HIST)
The ALM_HIST command reads the alarm history that is stored in the SERVOPACK and stores it in
Servo Alarm Code (monitoring parameter IW

2D).
( 1 ) Executing/Operating Procedure
1.
Check to see if all the following conditions are satisfied.
2.
Set OW

08 to 20 to execute the ALM_HIST motion command.
The ALM_HIST command will read the alarm history that is stored in the SERVOPACK and
store it in Servo Alarm Code (monitoring parameter IW

2D).
IW

08 will be 20 during command execution.
IB

090 will turn ON during the command processing and will turn OFF when the command
processing has been completed.
3.
Set OW

08 to 0 to execute the NOP motion command and then complete the
monitoring operation.
OW08 = 19 (ALM-MON)
IW08 = 19 (ALM-MON)
IB090 (BUSY)
IW2D
Alarm code (0) Alarm code (0)
IB098 (COMPLETE)
IB093 (FAIL)
Undefined length
of time
Specified
alarm code
Alarm code (0) Alarm code (0)
OW08 = 19 (ALM-MON)
IW08 = 19 (ALM-MON)
IB090 (BUSY)
IW2D
IB098 (COMPLETE)
IB093 (FAIL)
Undefined length
of time
Alarm code
(0)
No. Execution Conditions Confirmation Method
1 Motion command execution has been completed.
IW

08 is 0 and IB

090 is OFF.