YASKAWA SVC - Page 218

4.2 Motion Command Details
4.2.15 KFS (Change Feedforward)
4
Motion Control Program Commands and Instructions
4-75
 Monitor Parameters
Timing Charts
 Normal Completion
 Error Completion
Register
Address
Name Monitored Contents
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 16 during execution of the KFS command.
IW09
Bit 0
Command Execu-
tion Flag
This bit is 1 (Processing) during execution of the KFS command. The bit
changes to 0 (Completed) when execution ends.
IW
09
Bit 1
Command Hold
Completed
This bit is always 0 (Command hold not completed) for the KFS 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 KFS 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 KFS command ends.
OW08 = 16 (KFS)
IW08 = 16 (KFS)
IW09 Bit 0 (BUSY)
IW09 Bit 8 (COMPLETE)
IW09 Bit 3 (FAIL)
This interval is
not constant.
OW08 = 16 (KFS)
IW08 = 16 (KFS)
IW09 Bit 0 (BUSY)
IW09 Bit 8 (COMPLETE)
IW09 Bit 3 (FAIL)
This interval is
not constant.