YASKAWA SVC - Page 235

4.2 Motion Command Details
4.2.22 VELO (Issue Speed Reference)
4-92
 Monitor Parameters
Timing Charts
 Normal Execution
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 23 during execution of the VELO command.
IW
09
Bit 0
Command Execu-
tion Flag
This bit changes to 1 (Processing) when cancel processing is being per-
formed for the VELO command. This bit changes to 0 (Completed) when
cancel processing has been completed.
IW
09
Bit 1
Command Hold
Completed
This bit is always 0 (Command hold not completed) for the VELO 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 VELO command.
The axis will decelerate to a stop if it is in operation. 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 VELO
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 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
OW08 = 23 (VELO)
IW08 = 23 (VELO)
IW09 Bit 0 (BUSY)
IW09 Bit 8 (COMPLETE)
IW09 Bit 3 (FAIL)
IW0C Bit 0 (DEN)
1 scan