YASKAWA MP2000 Series User Manual

4.4 MP2000 Series Machine Controller Parameter Details
4.4.3 Motion Monitoring Parameter Details
4-65
Motion Parameters
( 7 ) Motion Subcommand Response Code
( 8 ) Subcommand Status
( 9 ) Position Management Status
IW0A
Motion Subcommand Response Code
Range Unit
0 to 65535 −
Description
Stores the motion subcommand code for the command that is being executed.
This is the motion subcommand code that is currently being executed and is not necessarily the same as the Motion Sub-
command (setting parameter OW0A).
 Subcommands are used by the system for latch commands and reading/writing parameters.
IW0B
Subcommand Status
Range Unit
−−
Description
Bit 0
Command Execution Flag
0: READY (completed)
1: BUSY (processing)
This bit indicates the motion subcommand status.
This bit turns ON during execution of commands that have been completed or during abort processing.
Bit 3
Command Error Completed Status (FAIL)
0: Normal completion
1: Abnormal completion
This bit turns ON if motion subcommand processing does not complete normally.
Bit 8
Command Execution Completed (COMPLETE)
0: Normal execution not completed
1: Normal execution completed
This bit turns ON when motion subcommand processing was completed normally.
IW0C
Position Management Status
Range Unit
−−
Description
Bit 0
Discharging Completed
0: Distributing pulses.
1: Distribution completed.
This bit turns ON when pulse distribution has been completed for a move command. This bit turns ON when the
SERVOPACK parameter DEN (Command Profile Complete) (monitoring parameter IW2C, bit7) turns ON
and the SVB’s internal distribution processing is completed.
Bit 1
Positioning Completed
0: Outside Positioning Completed Width.
1: In Positioning Completed Width.
This bit turns ON when pulse distribution has been completed and the current position is within the Width of
Positioning Completion (i.e., after SERVOPACK Parameter PSET (IL28, bitE) turns ON).
Bit 2
Latch Completed
0: Latch not completed.
1: Latch completed.
This bit turns OFF when a new latch command is executed and turns ON when the latch has been completed.
The latched position is stored as the Machine Coordinate System Latch Position System (LPOS) (monitoring
parameter IL18).
Bit 3
NEAR Position
0: Outside position proximity range.
1: In position proximity range.
The operation of this bit depends on the setting of NEAR Signal Output Width (setting parameter OL20).
•OL20 = 0: This bit turns ON when pulse distribution has been completed (monitoring parameter
IW0C, bit 0).
•OL20 ≠ 0: This bit turns ON when the result of subtracting the Machine Coordinate System Feedback
Position (APOS) (IL16) from the Machine Coordinate System Reference Position (MPOS) (IL12)
is less than the NEAR Signal Output Width, even if pulse distribution has not been completed.
R
R
R
R
R
R
R

YASKAWA MP2000 Series Specifications

General

Brand	YASKAWA
Model	MP2000 Series
Category	Controller
Language	English