YASKAWA MP2000 Series - Page 148

4.4 MP2000 Series Machine Controller Parameter Details
4.4.3 Motion Monitoring Parameter Details
4-69
Motion Parameters
( 13 ) Servo Driver Information
( 14 ) Servo Driver I/O Monitor
Stores I/O information of the SERVOPACK.
IW2D
Servo Driver Alarm Code
Range Unit
−32768 to 32767 −
Description
Stores the alarm code (leftmost 2 digits) from the SERVOPACK in HEX
Example: The code for a communication error that occurs in an SGDS, SGDV, or SGD7S SERVOPACK is E6.
Refer to the manual for the SERVOPACK for details on alarms.
 When the motion command ALM_MON (Monitor SERVOPACK Alarms) or ALM_HIST (Monitor SER-
VOPACK History) is executed, the monitored alarm code will be written as it is. (Three digits for a
SGDS, SGDV, or SGD7S SERVOPACK.)
 When in Simulation Mode, the alarm code will be H99.
IW2E
Servo Driver I/O Monitor
Range Unit
−−
Description
Bit 0
Forward Side Limit Switch Input (P_OT)
0: OFF
1: ON
Bit 1
Negative Reverse Side Limit Switch Input (N_OT)
0: OFF
1: ON
Bit 2
Deceleration Dog Switch Input (DEC)
0: OFF
1: ON
Bit 3
Encoder Phase-A Signal Input (PA)
0: OFF
1: ON
Bit 4
Encoder Phase-B Signal Input (PB)
0: OFF
1: ON
Bit 5
Encoder Phase-C Signal Input (PC)
0: OFF
1: ON
Bit 6
EXT 1 Signal Input
0: OFF
1: ON
Bit 7
EXT 2 Signal Input
0: OFF
1: ON
Bit 8
EXT 3 Signal Input (EXT3)
0: OFF
1: ON
Bit 9
Brake State Output (BRK)
0: OFF
1: ON
Bit A
Stop Signal (HWBB), Available only for SGDV and SGD7S SERVOPACKs except for SGDV-
E1 SERVOPACKs.
0: OFF
1: ON
Bit C
CN1 Input Signal (IO12) selected in parameter Pn81E.0
0: OFF
1: ON
Bit D
CN1 Input Signal (IO13) selected in parameter Pn81E.1
0: OFF
1: ON
Bit E
CN1 Input Signal (IO14) selected in parameter Pn81E.2
0: OFF
1: ON
Bit F
CN1 Input Signal (IO15) selected in parameter Pn81E.3
0: OFF
1: ON