YASKAWA MP2000 Series - Page 220

6.2 Motion Command Details
6.2.9 Change Acceleration Time (ACC)
6-55
Motion Commands
[ b ] Monitoring Parameters
( 4 ) Timing Charts
[ a ] Normal End
[ b ] Error End
Parameter Name Monitor Contents
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 10 during ACC command execution.
IW09
Bit 0
Command Execution
Flag
Turns ON during ACC command execution and turns OFF when execution has been
completed.
IW09
Bit 1
Command Hold
Completed
Always OFF for ACC command.
IW09
Bit 3
Command Error
Completed Status
Turns ON if an error occurs during ACC command execution. Turns OFF when another
command is executed.
IW09
Bit 8
Command Execution
Completed
Turns ON when ACC command execution has been completed.
OW08 = 10 (ACC)
IW08 = 10 (ACC)
IW09, bit 0 (BUSY)
IW09, bit 8 (COMPLETE)
IW09, bit 3 (FAIL)
Undefined length
of time
OW08 = 10 (ACC)
IW08 = 10 (ACC)
IW09, bit 0 (BUSY)
IW09, bit 8 (COMPLETE)
IW09, bit 3 (FAIL)
Undefined length
of time