YASKAWA MP2000 Series User Manual

6.2 Motion Command Details
6.2.1 Position Mode (POSING) (Positioning)
6-8
[ b ] Monitoring Parameters
( 5 ) Timing Charts
[ a ] Normal Execution
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
Response Code
Indicates the motion command that is being executed.
The response code will be 1 during POSING command execution.
IW09
Bit 0
Command
Execution Flag
Turns ON when abort processing is being performed for POSING command. Turns
OFF when abort processing has been completed.
IW09
Bit1
Command Hold
Completed
Turns ON when a deceleration to a stop has been completed as the result of setting the
Holds a Command (OW09, bit 0) bit to 1 during POSING command execution.
IW09
Bit 3
Command Error
Completed Status
Turns ON if an error occurs during POSING 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 POSING command.
Use the Positioning Completed bit (IW0C, bit 1) to confirm completion of this
command.
IW0C
Bit 0
Discharging
Completed
Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of the 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 Out-
put Width even if pulse distribution has not been completed.
OFF in all other cases.
R
R
R
R
R
R
R
R
R
R
R
OW08 = 1 (POSING)
IW08 = 1 (POSING)
IW09, bit 0 (BUSY)
Undefined length of time
IW09, bit 8 (COMPLETE)
IW09, bit 3 (FAIL)
IW0C, bit 0 (DEN)
IW0C, bit 1 (POSCOMP)
1 scan

YASKAWA MP2000 Series Specifications

General

Brand	YASKAWA
Model	MP2000 Series
Category	Controller
Language	English