YASKAWA JEPMC-MP2300-Y Series

12
Maintenance and Inspection
12.6.3
Servo Driver Status and Servo Driver Error Codes
12-28
12.6.3 Servo Driver Status and Servo Driver Error Codes
( 1 ) Network Servo Status (IW

2C) List
The status of a SERVOPACK for MECHATROLINK communication can be monitored in Monitor
Parameter IW

2C.
A list is provided in the following table.
B
it No.
Status Description
Bit 0
Alarm
(ALARM)
OFF: No alarm occurred.
ON: Alarm occurred.
Bit 1
Warning
(WARNG)
OFF
: No warning occurred.
ON
: Warning occurred.
Bit 2
Command Ready
(CMDRDY)
OFF
: Command reception not possible (
busy
).
ON
: Command reception possible (
ready
).
Bit 3
Servo ON
(SVON)
OFF
: Servo OFF (baseblock)
ON
: Servo ON (baseblock cleared)
Bit 4
Main Power ON
(PON)
OFF
: Main power OFF
ON
: Main power ON
Bit 5
Machine Lock
(MLOCK)
OFF
: Machine lock released
ON
: Machine locked
Bit 6
Zero Point Position
(ZPOINT)
OFF
: The APOS (absolute position) is not in the zero point.
ON
: The APOS (absolute position) is in the zero point range.
Bit 7
Positioning Completed
(PSET)
OFF
: Pulse distribution is not completed or the APOS is not in the positioning completed
width.
ON
: Pulse distribution is completed and the APOS is within the positioning completed
width.
Bit 8
Distribution Completed
(DEN)
OFF
: Pulse distribution is being performed for positioning command.
ON
: Pulse distribution for positioning commands has been completed
Bit 9
Torque Limit
(T_LIM)
OFF
: A torque limit is not being applied.
ON
: A torque limit is being applied.
Bit A
Latch Completed
(L_CMP)
OFF
: Latch not completed.
ON
: Latch completed.
Bit B
Position Proximity
(NEAR)
OFF
:The APOS is outside the position proximity range.
ON
: The APOS is inside the position proximity range.
Bit C
Positive Software Limit
(P-SOT)
OFF
: The positive software limit has not been exceeded.
ON
: The positive software limit has been exceeded.
Bit D
Negative Software Limit
(N-SOT)
OFF
: The negative software limit has not been exceeded.
ON
: The negative software limit has been exceeded.
Bit E
Reserved
−
Bit F
Reserved
−