YASKAWA MP2000 Series - Page 218

6.2 Motion Command Details
6.2.8 Set Zero Point (ZSET)
6-53
Motion Commands
[ b ] Monitoring Parameters
( 4 ) Timing Charts
[ a ] Normal Execution
Parameter Name Monitor Contents SVR
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 will be 9 during ZSET command execution.
IW09
Bit 0
Command Execution
Flag
Turns ON during ZSET command execution and turns OFF when ZSET com-
mand execution has been completed.
IW09
Bit 1
Command Hold
Completed
Always OFF for ZSET command.
IW09
Bit 3
Command Error
Completed Status
Turns ON if an error occurs during ZSET command execution.
Turns OFF when another command is executed.
IW09
Bit 8
Command Execution
Completed
Turns ON when ZSET command execution has been completed.
IW0C
Bit 5
Zero Point Return
(Setting) Completed
Turns ON when the setting of the zero point has been completed.
R
R
R
R
R
R
R
R
OW08 = 9 (ZSET)
IW08 = 9 (ZSET)
IW09, bit 0 (BUSY)
IW09, bit 8 (COMPLETE)
IW0C, bit 5 (ZRNC)
IW09, bit 3 (FAIL)