YASKAWA MP2200 User Manual

4
Motion Parameters
4.2.3
Monitoring Parameter List
4-14
IW

09
Motion Command Status
Bit 0: Command Executing (BUSY) Flag
Yes Yes Yes
Bit 1: Command Hold Completed (HOLDL)
Yes Yes Yes
Bit 2: Reserved
Bit 3: Command Error Occurrence (FAIL)
Yes Yes Yes
Bits 4 to 7: Reserved
Bit 8: Command Execution Completed (COMPLETE)
Yes Yes Yes
Bits 9 to F: Reserved
IW

0A
Motion Subcommand
Response Code
Same as OW

0A (Motion Subcommand).
Yes Yes Yes
IW

0B
Motion Subcommand Status
Bit 0: Command Executing (BUSY) Flag
Yes Yes Yes
Bits 1 and 2: Reserved
Bit 3: Command Error Occurrence (FAIL)
Yes Yes Yes
Bits 4 to 7: Reserved
Bit 8: Command Execution Completed (COMPLETE)
Yes Yes Yes
Bits 9 to F: Reserved
IW

0C
Position Management Status
Bit 0: Distribution Completed (DEN)
Yes Yes Yes
Bit 1: Positioning Completed (POSCOMP)
Yes Yes Yes
Bit 2: Latch Completed (LCOMP)
Yes Yes
Bit 3: Position Proximity (NEAR)
Yes Yes Yes
Bit 4: Zero Point Position (ZERO)
Yes Yes Yes
Bit 5: Zero Point Return (Setting) Completed (ZRNC)
Yes Yes Yes
Bit 6: Machine Lock (MLOCK)
Yes Yes
Bit 7: Absolute Position Read Completed
Yes
Bit 8: ABS System Infinite Length Position Control Information
LOAD Completed (ABSLDE)
Yes Yes
Bit 9: POSMAX Turn Number Presetting Completed (TPRSE)
Yes Yes Yes
Bit A: Rotational Direction of Absolute Encoder
Yes
Bits B to F: Reserved
IW

0D
－
Reserved
IL

0E
Machine Coordinate Target
Position (TPOS)
1 = 1 reference unit
Yes Yes
Yes
IL

10
Target Position (CPOS)
1 = 1 reference unit
Yes Yes Yes
IL

12
Machine Coordinate System
Position (MPOS)
1 = 1 reference unit
Yes Yes Yes
IL

14
32-bit Coordinate System
Position (DPOS)
1 = 1 reference unit
Yes Yes
IL

16
Machine Coordinate Feedback
Position (APOS)
1 = 1 reference unit
Yes Yes Yes
IL

18
Machine Coordinate Latch
Position (LPOS)
1 = 1 reference unit
Yes Yes
IL

1A
Position Error (PERR)
1 = 1 reference unit
Yes Yes
IL

1C
Target Position Difference
Monitor
1 = 1 reference unit
Yes Yes Yes
IL

1E
POSMAX Number of Turns
1 = 1 turn
Yes Yes Yes
IL

20
Speed Reference Output
Monitor
Unit is according to OW

03, bits 0 to 3 (Speed Unit).
Yes Yes
IL

22
－
Reserved
IL

24
Integral Output Monitor
Unit is according to OW

03, bits 0 to 3 (Speed Unit).
Yes
(cont’d)
Register No. Name Description
SVB
-01
SVA
-01
SVR
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YASKAWA MP2200 Specifications

General

Brand	YASKAWA
Model	MP2200
Category	Controller
Language	English