YASKAWA MP2200

5.2
Motion Command Details
5-53
[ b ] Monitoring Parameters
Parameter Name Monitor Contents
IB

001
Servo ON
Indicates the Servo ON status.
ON: Power supplied to Servomotor, OFF: 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 3 during ZRET command execution.
IB

090
Command Executing
Turns ON during zero point return operation. Turns OFF when ZRET command
execution has been completed.
IB

091
Command Hold
Completed
Always OFF for ZRET command.
IB

093
Command Error End
Turns ON if an error occurs during ZRET command execution. The axis will decelerate
to a stop if it is moving. Turns OFF when another command is executed.
IB

098
Command Execution
Completed
Turns ON when ZRET command execution has been completed.
IB

0C0
Distribution
Completed
Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of a move command.
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.
IB

0C4
Zero Point Position
Turns ON if the current position after the zero point return operation has been
completed is within the Zero Point Position Output Wide from the zero point position.
Turns OFF is the current position is not within this width.
IB

0C5
Zero Point Return
Completed
Turns ON when the zero point return has been completed.
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