YASKAWA MP2000 Series User Manual

6.2 Motion Command Details
6.2.22 Speed Reference (VELO)
6-83
Motion Commands
[ 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 23 during VELO command execution.
IW09
Bit 0
Command Execution
Flag
Turns ON when abort processing is being performed for VELO command. Turns
OFF when abort processing has been completed.
IW09
Bit 1
Command Hold
Completed
Always OFF for VELO command.
IW09
Bit 3
Command Error
Completed Status
Turns ON if an error occurs during VELO command execution.
The axis will decelerate to a stop if it is operating. Turns OFF when another com-
mand is executed.
IW09
Bit 8
Command Execution
Completed
Always OFF for VELO command.
IW0C
Bit 0
Discharging
Completed
Turns ON when pulse 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 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 of this bit depends on the setting of NEAR Signal Output Width (set-
ting 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 Output Width, even if pulse distribution has not been com-
pleted.
OFF in all other cases.
R
R
R
R
R
R
R
R
R
R
R
OW08 = 23 (VELO)
IW08 = 23 (VELO)
IW09, bit 0 (BUSY)
IW09, bit 8 (COMPLETE)
IW09, bit 3 (FAIL)
IW0C, bit 0 (DEN)
1 scan

YASKAWA MP2000 Series Specifications

General

Brand	YASKAWA
Model	MP2000 Series
Category	Controller
Language	English