YASKAWA SVC - Page 201

4.2 Motion Command Details
4.2.7 STEP (STEP Operation)
4-58
Timing Charts
 Normal Execution
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 8 during execution of the STEP command.
IW
09
Bit 0
Command Execu-
tion Flag
This bit is 1 (Processing) during execution of the STEP command. The
bit changes to 0 (Completed) when execution ends.
IW
09
Bit 1
Command Hold
Completed
This bit changes to 1 (Completed) when IW08 is 8 (execution of
the STEP command is in progress), bit 1 (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 STEP 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 (Normal execution completed) when execution of
the STEP 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 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 distri-
bution is completed (i.e., when DEN is 1), and it is 0 (Outside near posi-
tion 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 Monitored Contents
OW08 = 8 (STEP)
IW08 = 8 (STEP)
IW09 Bit 0 (BUSY)
IW09 Bit 8 (COMPLETE)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
IW0C Bit 1 (POSCOMP)
1 scan
This interval is not constant.