YASKAWA MP2200

5
Motion Commands
5.2.22
Speed Reference (VELO)
5-102
[ b ] Monitoring Parameters
( 5 ) Timing Charts
[ a ] Normal Execution
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 23 during VELO command execution.
IB

090
Command Executing
Turns ON when abort processing is being performed for VELO command. Turns OFF
when abort processing has been completed.
IB

091
Command Hold
Completed
Always OFF for VELO command.
IB

093
Command Error End
Turns ON if an error occurs during VELO command execution. The axis will
decelerate to a stop if it is operating. Turns OFF when another command is executed.
IB

098
Command Execution
Completed
Always OFF for VELO command.
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

0C1
Positioning
Completed
Turns ON when pulse distribution has been completed and the current position is
within the positioning completed range. OFF in all other cases.
IB

0C3
Position Proximity
The operation of this bit depends on the setting of 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 the absolute value of the difference between the
Machine Coordinate Feedback Position (monitoring parameter IL

16) and the
Machine Coordinate System Position (monitoring parameter IL

12) is less than
the Position Completed Width 2, even if pulse distribution has not been completed.
OFF in all other cases.
OW08 = 23 (VELO)
IW08 = 23 (VELO)
IB090 (BUSY)
IB098 (COMPLETE)
IB093 (FAIL)
IB0C0(DEN)
1 scan
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