YASKAWA MP2000 Series User Manual

6.2 Motion Command Details
6.2.24 Phase References (PHASE)
6-91
Motion Commands
( 4 ) Timing Charts
[ a ] Normal Execution
IW09
Bit 0
Command Execution Flag
Always OFF for PHASE command.
IW09
Bit 1
Command Hold Completed
Always OFF for PHASE command.
IW09
Bit 3
Command Error
Completed Status
Turns ON if an error occurs during PHASE command execution.
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 PHASE command.
IW0C
Bit 0
Discharging Completed
Turns ON when pulse distribution has been completed for the move com-
mand.
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 posi-
tion 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 (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 Output Width, even if pulse distribu-
tion has not been completed.
OFF in all other cases.
(cont’d)
Parameter Name Monitor Contents SVR
R
R
R
R
R
R
R
OW08 = 25 (PHASE)
IW08 = 25 (PHASE)
IW09, bit 0 (BUSY)
IW09, bit 8 (COMPLETE)
IW09, bit 3 (FAIL)
IW0C, bit 0 (DEN)
IW0C, bit 1 (POSCOMP)
Undefined length of time1 scan
The Target Position is automatically refreshed every scan.

YASKAWA MP2000 Series Specifications

General

Brand	YASKAWA
Model	MP2000 Series
Category	Controller
Language	English