5
Motion Commands
5.2.24
Phase References (PHASE)
5-112
[ b ] Monitoring Parameters
( 4 ) 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 25 during PHASE command execution.
IB
090
Command Executing
Always OFF for PHASE command.
IB
091
Command Hold
Completed
Always OFF for PHASE command.
IB
093
Command Error End
Turns ON if an error occurs during PHASE 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
Always OFF for PHASE 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.
OW08 = 25 (PHASE)
IW08 = 25 (PHASE)
IB090 (BUSY)
IB098 (COMPLETE)
IB093 (FAIL)
IB0C0 (DEN)
1 scan
IB0C1 (POSCOMP)
The Target Position is automatically refreshed every scan.
Undefined length of time
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