YASKAWA SVC - Page 153

4.2 Motion Command Details
4.2.1 POSING (Positioning)
4-10
 Monitor Parameters
OL36
Linear Acceleration
Rate/Acceleration
Time Constant
Set the positioning acceleration rate with the acceleration rate or the
acceleration time.
OL38
Linear Deceleration
Rate/Deceleration
Time Constant
Set the positioning deceleration rate with the deceleration rate or the
deceleration time.
OW3A Filter Time Constant
Set the acceleration/deceleration filter time constant. Exponential
acceleration/deceleration or a moving average filter can be selected in
bits 8 to B in OW03.
This setting can be changed only when distribution has been com-
pleted (i.e., when bit 0 in IW0C is 1).
Register
Address
Name Monitored Contents
IW00
Bit 1
Running with Servo
ON
This bit shows the Servo status for the axis.
0: Stopped, 1: Running with Servo ON
IL02 Warnings This parameter reports the current warning status.
IL04 Alarms This parameter reports the current alarm status.
IW08
Motion Command
Response Code
This parameter shows the motion command currently in execution.
This parameter is 1 during execution of the POSING command.
IW09
Bit 0
Command Execu-
tion Flag
This bit changes to 1 (Processing) when cancel processing is being per-
formed for the POSING command. This bit changes to 0 (Completed)
when cancel processing has been completed.
IW09
Bit 1
Command Hold
Completed
This bit changes to 1 (Completed) when IW08 is 1 (execution of
the POSING command is in progress), bit 0 (Hold Command) in
OW09 is 1, and the axis completely decelerates to a stop.
IW09
Bit 3
Command Error End
This bit changes to 1 (Completed with an error) when an error occurs
during execution of the POSING command. The axis will decelerate to a
stop if it is moving. This bit changes to 0 (Completed normally) when
another command is executed.
IW09
Bit 8
Command Execu-
tion Completed
This bit is always 0 (Normal execution not completed) for the POSING
command.
Check bit 1 in IW0C to see if the POSING command has been
completed.
IW0C
Bit 0
Distribution Com-
pleted
This bit changes to 1 (Distribution completed) when the distribution for
the travel motion command is completed.
This bit is 0 (Distributing pulses) when the execution of a travel motion
command is in progress.
IW0C
Bit 1
Positioning Com-
pleted
This bit is 1 (Within positioning completed range) when distribution is
completed and the current position is within the positioning completed
range.
This bit is 0 (Out
side positioning completed range) in all other cases.
IW0C
Bit 3
Near Position
The operation of this bit depends on the set value of OL20.
If OL20 is 0, this bit is 1 (Within near position range) when distribu-
tion is completed (i.e., when DEN is 1), and it is 0 (Outside near position
range) when distribution is not completed.
When OL20 is not 0, this bit is 1 when within the range of the fol-
lowing formula, regardless of the state of distribution, and 0 in all other
cases.
|(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
Continued from previous page.
Register
Address
Name Setting Details