YASKAWA MP2100 Series User Manual

7 Motion Parameters
7.2.3 Motion Monitoring Parameter Details
7-36
(9) Position Management Status
IW

0C
Position Management Status
Range Unit
−−
IW

0C Bit 0 Distribution Completed (DEN)
This bit turns ON when pulse distribution has been completed for a move command.
This bit turns ON when the SERVOPACK parameter Distribution Completed
(monitoring parameter IB

2C8) turns ON and the SVB-01 Module’s internal distri-
bution processing is completed.
OFF: Distributing pulses
ON: Distribution completed
Bit 1 Positioning Completed (POSCOMP)
This bit turns ON when pulse distribution has been completed and the current position
is within the Positioning Completed Width (i.e., after SERVOPACK Positioning Com-
pleted (IB

2C7) turns ON).
OFF: Outside Positioning Completed Width
ON: In Positioning Completed Width
Bit 2 Latch Completed (LCOMP)
This bit turns OFF when a new latch command is executed and turns ON when the
latch has been completed. The latched position is stored as the Machine Coordinate
Latch Position (monitoring parameter IL

18).
OFF: Latch not completed
ON: Latch completed
Bit 3 Position Proximity (NEAR)
The operation of this bit depends on the setting of the Positioning Completed Width 2
(setting parameter OL

20).
• OL

20 = 0: This bit turns ON when pulse distribution has been completed
(monitoring parameter IB

0C0).
• OL

20
≠
0: This bit turns ON when the result of subtracting the Machine Coor-
dinate Feedback Position (IL

16) from the Machine Coordinate System Position
(IL

12) is less than the Position Completed Width 2, even if pulse distribution
has not been completed.
OFF: Outside position proximity range
ON: In position proximity range
Bit 4 Zero Point Position (ZERO)
This bit turns ON when the Machine Coordinate System Position (monitoring
parameter IL

12) is within the Home Window (setting parameter OW

3D) after
a zero point return (setting) has been completed.
OFF: Outside zero point position range
ON: In zero point position range
Bit 5 Zero Point Return (Setting) Completed (ZRNC)
This bit turns ON when a zero point return (setting) has been completed. This bit turns
OFF when a new zero point return (setting) operation is started, when communication
with the SERVOPACK stop, or when a Servo alarm related to the encoder occurs.
OFF: Zero point return (setting) not completed
ON: Zero point return (setting) completed

YASKAWA MP2100 Series Specifications

General

Brand	YASKAWA
Model	MP2100 Series
Category	Controller
Language	English