YASKAWA MP2100 Series - Page 279

8 Motion Commands
8-70
(b) Monitoring Parameters
(4) Timing Charts
(a) Normal End
(b) Error End
Parameter Name Monitor Contents
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 20 during ALM_HIST command execution.
IB

090 Command Executing Turns ON during ALM_HIST command execution and turns OFF when execution
has been completed.
IB

091 Hold Completed Always OFF for ALM_HIST command.
IB

093 Command Error End Turns ON if an error occurs during ALM_HIST command execution. Turns OFF
when another command is executed.
IB

098 Command
Completed
Turns ON when ALM_HIST command execution has been completed.
IW

2D Servo Alarm Code Stores the SERVOPACK alarm code that was read.
OW08 = 20 (ALM-HIST)
IW08 = 20 (ALM-HIST)
IB090 (BUSY)
IW2D
Alarm code (0) Alarm
code (0)
Specified
alarm code
IB098 (COMPLETE)
IB093 (FAIL)
Undefined
length of time
Alarm code (0) Alarm
code (0)
Alarm
code (0)
OW08 = 20 (ALM-HIST)
IW08 = 20 (ALM-HIST)
IB090 (BUSY)
IW2D
IB098 (COMPLETE)
IB093 (FAIL)
Undefined
length of time