YASKAWA MP Series User Manual

6.2 Motion Command Details
6.2.4 Interpolation (INTERPOLATE)
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[ b ] Monitoring Parameters
Parameter Name Monitor Contents SVR
IW00
Bit 1
Running (At Servo
ON)
Indicates the Servo ON status.
1: Power supplied to Servomotor, 0: Power not supplied to Servomotor
IL02 Warning
Stores the most current warning.
IL04 Alarm
Stores the most current alarm.
IW08
Motion Command Re-
sponse Code
Indicates the motion command that is being executed.
The response code is 4 during INTERPOLATE command execution.
IW09
Bit 0
Command Executing
Flag
Always OFF for INTERPOLATE command.
IW09
Bit 1
Command Hold
Completed
Always OFF for INTERPOLATE command.
IW09
Bit 3
Command Error
Completed Status
Turns ON if an error occurs during INTERPOLATE command execution.
The axis will decelerate to a stop if it is moving. Turns OFF when another command
is executed.
IW09
Bit 8
Command Execution
Completed
Always OFF for INTERPOLATE command.
IW0C
Bit 0
Discharging
Completed
Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of a move command.
IW0C
Bit 1
Positioning
Completed
Turns ON when pulse distribution has been completed and the current position is
within the Width of Positioning Completion. OFF in all other cases.
IW0C
Bit 3
NEAR Position
The operation depends on the setting of the NEAR Signal Output Width (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 (IL12) and APOS (IL16) is less than the NEAR
Signal Output Width even if pulse distribution has not been com-
pleted.
OFF in all other cases.
R
R
R
R
R
R
R
R
R
R
R

YASKAWA MP Series Specifications

General

Brand	YASKAWA
Model	MP Series
Category	Controller
Language	English