YASKAWA MP2300S - Page 366

Appendix E Motion Parameter Details
E.3 Monitoring Parameter List
A-44
IW09
Motion Command
Status
Bit 0: Command Execution Flag
Yes Ye s
Bit 1: Command Hold Completed
Yes Ye s
Bit 2: Reserved
−−
Bit 3: Command Error Completed Status
(Command Error Occurrence)
Yes Ye s
Bits 4 to 6: Reserved
−−
Bit 7: Reset Absolute Encoder Completed
Yes
Bit 8: Command Execution Completed
Yes Ye s
Bits 9 to F: Reserved
−−
IW0A
Subcommand Re-
sponse Code
Same as OW0A (Motion Subcommand).
Yes Ye s
IW0B Subcommand Status
Bit 0: Command Execution Flag
Yes Ye s
Bits 1, 2: Reserved
−−
Bit 3: Command Error Completed Status
(Command Error Occurrence)
Yes Ye s
Bits 4 to 7: Reserved
−−
Bit 8: Command Execution Completed
Yes Ye s
Bits 9 to F: Reserved
−−
IW0C
Position Management
Status
Bit 0: Distribution Completed
Yes Ye s
Bit 1: Positioning Completed
Yes Ye s
Bit 2: Latch Completed
Yes
Bit 3: NEAR Position
Yes Ye s
Bit 4: Zero Point Position
Yes Ye s
Bit 5: Zero Point Return (Setting) Completed
Yes Ye s
Bit 6: During Machine Lock
Yes
Bit 7: Reserved
−−
Bit 8: ABS Rotary Pos. Load Complete (ABS System Infinite Length
Position Control Information Load Completed)
• Invalid for linear type.
Yes
Bit 9: POSMAX Turn Preset Complete (TPRSE)
• Invalid for linear type.
Yes Ye s
Bits A to F: Reserved
−−
IW0D − Reserved
−−
IL0E
Target Position in
Machine Coordinate
System (TPOS)
1 = 1 reference unit
Yes Ye s
IL10
Calculated Position in
Machine Coordinate
system (CPOS)
1 = 1 reference unit
Yes Ye s
IL
12
Ma
chine Coordinate
System Reference
Position (MPOS)
1 = 1 reference unit
Yes Ye s
IL14 CPOS for 32 bit 1 = 1 reference unit
Yes Ye s
IL16
Machine Coordinate
System Feedback
Position (APOS)
1 = 1 reference unit
Yes Ye s
IL18
Machine Coordinate
System Latch Position
(LPOS)
1 = 1 reference unit
Yes
IL1A Position Error (PERR) 1 = 1 reference unit
Yes
IL1C
Target Position
Difference Monitor
1 = 1 reference unit
Yes
IL1E
Number of POSMAX
Turns
1 = 1 turn
• Invalid for linear type.
Yes Ye s
(cont’d)
Register No. Name Contents SVB SVR