YASKAWA MP2000 Series - Page 252

6.2 Motion Command Details
6.2.23 Torque /Thrust Reference (TRQ)
6-87
Motion Commands
( 5 ) Timing Charts
[ a ] Normal Execution
[ b ] Executed when Aborted
IW09
Bit 8
Command Execution
Completed
Always OFF for TRQ command.
IW0C
Bit 0
Discharging Complet-
ed
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 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 completed.
OFF in all other cases.
(cont’d)
Parameter Name Monitor Contents SVR
R
R
R
R
OW08 = 24 (TRQ)
IW08 = 24 (TRQ)
IW09, bit 0 (BUSY)
IW09, bit 8 (COMPLETE)
IW09, bit 3 (FAIL)
IW0C, bit 0 (DEN)
1 scan
IW0C, bit 1 (POSCOMP)
1 scan
OW09, bit 1 (ABORT)
Torque Control Mode Position Control Mode
OW08 = 24 (TRQ)
IW08 = 24 (TRQ)
IW09, bit 0 (BUSY)
IW09, bit 8 (COMPLETE)
IW09, bit 3 (FAIL)
IW0C, bit 0 (DEN)