7
Motion Commands
7.2.22
Speed Reference (VELO)
7-82
[ b ] Monitoring Parameters
( 5 ) Timing Charts
[ a ] Normal Execution
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 23 during VELO command execution.
IB

090
Command Executing
Turns ON when abort processing is being performed for VELO command. Turns
OFF when abort processing has been completed.
IB

091
Command Hold
Completed
Always OFF for VELO command.
IB

093
Command Error End
Turns ON if an error occurs during VELO command execution.
The axis will decelerate to a stop if it is operating. Turns OFF when another
command is executed.
IB

098
Command Execution
Completed
Always OFF for VELO command.
IB

0C0
Distribution
Completed
Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of a 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 of this bit depends on the setting of 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 Completed Width 2,
even if pulse distribution has not been completed.
OFF in all other cases.
R
R
R
R
R
R
R
R
R
R
R
OW08 = 23 (VELO)
IW08 = 23 (VELO)
IB090 (BUSY)
IB098 (COMPLETE)
IB093 (FAIL)
IB0C0 (DEN)
1 scan
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