YASKAWA MP2300 - Page 260

D
Motion Parameter Lists
A-28
IW

2C
Servo Driver Status
Bit 0: ALM (Alarm)
Bit 1: WARN (Warning)
Bit 2: CMDRY (Command Ready)
Bit 3: SVON (Servo ON)
Bit 4: PON (Main Power Supply ON)
Bit 5: MLOCK (Machine Lock)
Bit 6: ZPOINT (Zero Position)
Bit 7: PSET (Locating Complete)
(Positioning completed/V-CMP (Speed Coincidence)
Bit 8: DEN (Commanded Profile Complete)
(Distribution completed)/SZPD (Zero Speed)
Bit 9: T_LIM (Torque Restriction)
Bit A: L_CMP (Latch Complete)
Bit B: NEAR (Locating Neighborhood)
(NEAR Position)/V_LIM (Speed Limit)
Bit C: P_SOT (Position Software Limit)
Bit D: N_SOT (Negative Software Limit)
Yes
Bits E and F: Reserved for system use
−−
IW

2D
Servo Driver Alarm
Code
Stores the alarm code from the SERVOPACK.
Yes
IW

2E
Servo Driver I/O Monitor
Bit 0: Forward Side Limit Switch Input
Bit 1: Reverse Side Limit Switch Input
Bit 2: Deceleration Dog Switch Input
Bit 3: Encoder Phase-A Signal Input
Bit 4: Encoder Phase-B Signal Input
Bit 5: Encoder Phase-C Signal Input
Bit 6: EXT1 Signal Input
Bit 7: EXT2 Signal Input
Bit 8: EXT3 Signal Input
Bit 9: Brake State Output
Bit A: Stop signal (HWBB)
Bit B: Reserved for system use
Bits C to F:
For SGDH+NS115, SGDS, and SGDV SERVOPACKs: CN1
input signals (IO12 to IO15)
For other SERVOPACK models: Reserved by system
Yes
IW

2F
Servo Driver User
Monitor Information
Bits 0 to 3: Monitor 1
Bits 4 to 7: Monitor 2
Bits 8 to B: Monitor 3
Bits C to F: Monitor 4
Yes
IL

30
Servo Driver User
Monitor 2
Stores the result of the selected monitor.
Yes
IL

32
Servo Driver User
Monitor 3
Reserved for system use.
IL

34
Servo Driver User
Monitor 4
Stores the result of the selected monitor.
Yes
IW

36
Servo Driver User
Constant No.
Stores the number of the parameter being processed.
Yes
IW

37
Supplementary Servo
Driver User Constant
No.
Stores the number of the parameter being processed.
Yes
IL

38
Servo Driver User
Constant Reading Data
Stores the data of the parameter being read.
Yes
IL

3A
Supplementary
Servo Driver User
Constant Reading Data
Stores the data of the parameter being read.
Yes
IW

3F
Motor Type
Stores the type of motor actually connected.
0: Rotation type motor
1: Linear motor
Yes
IL

40
Feedback Speed
Unit is accordi
ng to OW

03, bits 0 to 3 (Speed Unit
Selection).
Yes Yes
(cont’d)
Register No. Name Contents SVB SVR