YASKAWA SVC - Page 265

4.2 Motion Command Details
4.2.32 MLTTRN_SET (Multiturn Limit Setting)
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Related Parameters
The parameters that are related to this command are listed in the following table.
 Setting Parameters
 Monitor Parameters
Timing Charts
 Normal Completion
Register
Address
Name Setting Details
OW00
Bit 0
Servo ON
Use this bit to turn the power to the Servomotor ON or OFF.
Set this parameter to 1 before setting OW
08 to 39 (MLT-
TRN_SET).
0: Servo OFF, 1: Servo ON
OW
08 Motion Commands
The multiturn limit setting operation will begin when 39 (MLT-
TRN_SET) is set.
Even if the command is set to 0 (NOP) during processing, this setting
will be ignored, and the operation will continue.
OW
09
Bit 0
Hold Command This bit is ignored for the MLTTRN_SET command.
OW
09
Bit 1
Cancel Command This bit is ignored for the MLTTRN_SET command.
Register
Address
Name Monitored Contents
IW00
Bit 0
Motion Operation
Ready
This bit shows whether or not communications are synchronized
between the MP3000 and the slave SERVOPACK.
For the MLTTRN_SET command, this bit is 1 (Motion operation ready) if
communications are synchronized between the MP3000 and the slave
SERVOPACK. This bit is 0 (Motion operation not ready) if communica-
tions are disconnected.
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 Warning This parameter reports the current warning status.
IL04 Alarm 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 39 during execution of the MLTTRN_SET command.
IW
09
Bit 0
Command Execu-
tion Flag
This bit changes to 1 (Processing) when cancel processing is being
performed for the MLTTRN_SET command.
This bit changes to 0 (Completed) when cancel processing has been
completed.
IW
09
Bit 3
Command Error End
This bit changes to 1 (Completed with an error) when an error occurs
during execution of the MLTTRN_SET command.
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 (Completed) when execution of the MLTTRN_SET
command ends.
OW08 = 39 (MLTTRN_SET)
IW08 = 39 (MLTTRN_SET)
IW09 Bit 0 (BUSY)
This interval is not constant.
IW09 Bit 3 (FAIL)
IW00 Bit 0 (SVCRDY)
This interval is not constant.
IW09 Bit 8 (COMPLETE)