YASKAWA SVC - Page 191

4.2 Motion Command Details
4.2.5 LATCH (Latch)
4-48
 Monitor Parameters
OL1E
Positioning Comple-
tion Width
Set this parameter to the value for which bit 1 in IW0C will change
to 1 (Within positioning completed range).
OL20
NEAR Signal Out-
put Width
Set this parameter to the value for which bit 3 in IW0C will change
to 1 (Within near position range). Bit 3 changes to 1 when the absolute
value of the difference between the reference position and the feedback
position is within the range that is specified here.
OW31
Speed Compensa-
tion
Set the speed feedforward amount as a percentage of the rated speed.
The setting unit for this parameter is always 0.01%.
OL
38
Linear Deceleration
Rate/Deceleration
Time Constant
Set the positioning deceleration rate with the deceleration time.
This parameter is used for decelerating to a stop when an alarm occurs.
OW
3A Filter Time Constant
Set the acceleration/deceleration filter time constant. Exponential accel-
eration/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 completed
(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 6 during execution of the LATCH command.
IW
09
Bit 0
Command Execu-
tion Flag
This bit is always 0 (Completed) for the LATCH command.
IW
09
Bit 1
Command Hold
Completed
This bit is always 0 (Command hold not completed) for the LATCH com-
mand.
IW09
Bit 3
Command Error End
This bit changes to 1 (Completed with an error) when an error occurs
during execution of the LATCH 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 LATCH
command.
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.
Continued from previous page.
Register
Address
Name Setting Details