YASKAWA JEPMC-MP2300-Y Series

7.2
Motion Command Details
7-87
( 5 ) Timing Charts
[ a ] Normal Execution
[ b ] Executed when Aborted
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
≠
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.
(cont’d)
Parameter Name Monitor Contents SVR
R
OW08 = 24 (TRQ)
IW08 = 24 (TRQ)
IB090 (BUSY)
IB098 (COMPLETE)
IB093 (FAIL)
IB0C0 (DEN)
1 scan
IB0C1 (POSCOMP)
1 scan
OB091 (ABORT)
Torque Control Mode Position Control Mode
OW08 = 24 (TRQ)
IW08 = 24 (TRQ)
IB090 (BUSY)
IB098 (COMPLETE)
IB093 (FAIL)
IB0C0 (DEN)