YASKAWA MP2100 Series User Manual

8.2 Positioning (POSING)
8-7
8
(b) Monitoring Parameters
Parameter Name Monitor Contents
IB

001 Servo ON Indicates the Servo ON status.
ON: 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 Servo Command
Type Response
Indicates the motion command that is being executed.
The response code will be 1 during POSING command execution.
IB

090 Command Executing Turns ON when abort processing is being performed for POSING command.
Turns OFF when abort processing has been completed.
IB

091 Hold Completed Turns ON when a deceleration to a stop has been completed as the result of
setting the Command Pause bit (OB

090) to 1 during POSING command exe-
cution.
IB

093 Command Error End Turns ON if an error occurs during POSING command execution. The axis will
decelerate to a stop if it is moving. Turns OFF when another command is
executed.
IB

098 Command
Completed
Always OFF for POSING command. Use the Positioning Completed bit
(IB

0C1) to confirm completion of this command.
IB

0C0 Distribution
Completed
Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of a pulse distribution.
IB

0C1 Positioning
Completed
Turns ON when pulse distribution has been completed and the current position is
within the Positioning Completed Width. OFF in all other cases.
IB

0C3 Position Proximity The operation depends on the setting of the Positioning Completed Width 2
(setting parameter OL

20).
OL

20 = 0: Turns ON when pulse distribution has been completed (DEN =
ON).
OL

20
≠
0: Turns ON when

MPOS - APOS

< Position Proximity Setting
even if pulse distribution has not been completed.
OFF in all other cases.

YASKAWA MP2100 Series Specifications

General

Brand	YASKAWA
Model	MP2100 Series
Category	Controller
Language	English