YASKAWA SVC - Page 159

4.2 Motion Command Details
4.2.2 EX_POSING (External Positioning)
4-16
 Monitor Parameters
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).
OL
46
External Positioning
Final Travel Distance
Set the travel distance after the external positioning signal is input.
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 2 during execution of the EX_POSING command.
IW
09
Bit 0
Command Execu-
tion Flag
This bit is 1 (Processing) during execution of the EX_POSING command.
The bit changes to 0 (Completed) when execution ends.
IW09
Bit 1
Command Hold
Completed
This bit changes to 1 (Completed) after the axis decelerates to a com-
plete stop when bit 1 (Hold Command) in OW09 changes to 1
during execution of the EX_POSING command (i.e., when IW08 is
2).
IW
09
Bit 3
Command Error End
This bit changes to 1 (Completed with an error) when an error occurs
during execution of the EX_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 changes to 1 (Completed) when execution of the EX_POSING
command ends.
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 (Outside positioning completed range) in all other
cases.
IW
0C
Bit 2
Latch Completed
This bit changes to 0 (Latch not complete) when a new latch command
is executed and it changes to 1 (Latch completed) when the latch is
completed. The latched position is reported in IL18.
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
IL
18
Machine Coordinate
System Latch Posi-
tion
This parameter stores the current position in the machine coordinate
system when the latch signal turned ON.
Continued from previous page.
Register
Address
Name Setting Details