YASKAWA SVC - Page 129

3.4 Motion Parameter Details
3.4.3 Monitor Parameter Details
3-76
Position Management Status
 Position Management Status
 Bit 0: Distribution Completed (DEN)
0: Distributing pulses.
1: Distribution completed.
This bit changes to 1 when distribution is completed for a travel motion command. This bit
changes to 1 when the SERVOPACK finishes distribution (bit C in IL28 is set to 1), and all
Motion Control Function Module internal processing related to distribution is completed.

Bit 1: Positioning Completed (POSCOMP)
0: Outside positioning completed range.
1: Within positioning completed range.
This bit changes to 1 when distribution is completed and the current position is within the posi-
tioning completed range (i.e., when bit E of IL28 is 1).

Bit 2: Latch Completed (LCOMP)
0: Latch not complete.
1: Latch completed.
This bit changes to 0 when a new latch command is executed and changes to 1 when the latch
is completed. The latched position is reported in the IL18 monitor parameter (Machine
Coordinate System Latch Position (LPOS)).

Bit 3: Near Position (NEAR)
0: Outside near position range.
1: Within near position range.
Operation depends on the value of OL20 setting parameter (NEAR Signal Output Width).
• When OL20 is 0: This bit changes to 1 when distribution is completed (bit 0 in
IW0C).
• When OL20 is not 0: This bit changes to 1 if within the range calculated by the follow-
ing formula, regardless of the Distribution Completed Flag.
|(IL12) − (IL16)| ≤ OL20
IL12: Machine Coordinate System Reference Position
IL16: Machine Coordinate System Feedback Position
OL20: NEAR Signal Output Width

Bit 4: Zero Point Position (ZERO)
0: Outside zero point position range.
1: Within zero point position range.
This bit changes to 1 when an origin return/setting is completed and the IL12 monitor
parameter (Machine Coordinate System Reference Position (MPOS)) is within the range of the
OW3D setting parameter (Zero Point Position Output Width) from the origin position.
Register
Address
Name Range Unit
IW0C Position Management Status −−
SVC
SVR
SVC
SVR
SVC
SVC
SVR
SVC
SVR