YASKAWA SVC - Page 224

4.2 Motion Command Details
4.2.18 ALM_MON (Monitor Alarms)
4
Motion Control Program Commands and Instructions
4-81
 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 19 during execution of the ALM_MON command.
IW09
Bit 0
Command Execu-
tion Flag
This bit changes to 1 (Processing) during execution of the ALM_MON
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 ALM_MON
command.
IW
09
Bit 3
Command Error End
This bit changes to 1 (Completed with an error) when an error occurs
during execution of the ALM_MON 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 ALM_MON command ends.
IW
2D
SERVOPACK Alarm
Code
This parameter stores the SERVOPACK alarm or warning code that was
read.
OW08 = 19 (ALM_MON)
IW08 = 19 (ALM_MON)
IW09 Bit 0 (BUSY)
IW09 Bit 8 (COMPLETE)
IW09 Bit 3 (FAIL)
IL38
This interval is
not constant.
Undened value Read results
OW08 = 19 (ALM_MON)
IW08 = 19 (ALM_MON)
IW09 Bit 0 (BUSY)
IW09 Bit 8 (COMPLETE)
IW09 Bit 3 (FAIL)
IL38
This interval is
not constant.
Undened value