YASKAWA MP2200

5
Motion Commands
5.2.5
Latch (LATCH)
5-62
[ 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 any alarms that have occurred during execution.
The response code is 6 during LATCH operation.
IB

090
Command Executing
Always OFF for LATCH operation.
IB

091
Command Hold
Completed
Always OFF for LATCH operation.
IB

093
Command Error End
Turns ON if an error occurs during LATCH operation. The axis will decelerate to a stop
if it is moving. Turns OFF when another command is executed.
IB

098
Command Execution
Completed
Always OFF for LATCH operation.
IB

0C0
Distribution
Completed
Turns ON when distribution has been completed for the move command.
Turns OFF during execution of a move command.
IB

0C1
Positioning
Completed
Turns ON when distribution has been completed and the current position is within the
Positioning Completed Width. OFF in all other cases.
IB

0C2
Latch Completed
This bit turns OFF when a new latch command is executed and turns ON when the latch
has been completed. The latched position is stored as the Machine Coordinate Latch
Position (monitoring parameter IL

18).
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.
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