YASKAWA MP2000 Series User Manual

6.2 Motion Command Details
6.2.5 Interpolation Mode with Latch Input (LATCH)
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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
Response Code
Indicates any alarms that have occurred during execution.
The response code is 6 during LATCH operation.
IW09
Bit 0
Command
Execution Flag
Always OFF for LATCH operation.
IW09
Bit 1
Command Hold
Completed
Always OFF for LATCH operation.
IW09
Bit 3
Command Error
Completed Status
Turns ON if an error occurs during LATCH operation. 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 LATCH operation.
IW0C
Bit 0
Discharging
Completed
Turns ON when 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 distribution has been completed and the current position is within the
Width of Positioning Completion. OFF in all other cases.
IW0C
Bit 2
Latch Complete
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 (LPOS) (monitoring parameter IL18).
−
IW0C
Bit3
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.
IL18
Machine Coordi-
nate System Latch
Position (LPOS)
Stores the current position in the machine coordinate system when the latch signal
turned ON.
−
R
R
R
R
R
R
R
R
R
R
R

YASKAWA MP2000 Series Specifications

General

Brand	YASKAWA
Model	MP2000 Series
Category	Controller
Language	English