YASKAWA MP2100 Series - Page 247

8 Motion Commands
8-38
(4) Timing Charts
(a) Normal Execution
(b) Execution when an Alarm Occurs
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.
IL

18 Machine Coordinate
Latch Position
Stores the current position in the machine coordinate system when the latch signal
turned ON.
(cont’d)
Parameter Name Monitor Contents
OW08 = 6 (LATCH)
IW08 = 6 (LATCH)
IB090 (BUSY)
Undefined length of time
IB098 (COMPLETE)
IB093 (FAIL)
IB0C0 (DEN)
1 scan
Latch Signal: Phase-C or EXT1, 2, or 3
IB0C2 (LCOMP)
Change the target position each high-speed scan.
Alarm
Undefined length of time
IB0C1 (POSCOMP)
1 scan
OW08 = 6 (LATCH)
IW08 = 6 (LATCH)
IB090 (BUSY)
IB098 (COMPLETE)
IB093 (FAIL)
IB0C0 (DEN)