YASKAWA VIPA SPEED7 - Page 547

Parameter Declaration Data type Description
CmdErrorID OUTPUT WORD Additional error information
Ä Chap. 13.10 ‘ErrorID - Additional error information’
page 637
DirectionPositive OUTPUT BOOL
n Status motion job: Position increasing
– TRUE: The position of the axis is increasing
DirectionNegative OUTPUT BOOL
n Status motion job: Position decreasing
– TRUE: The position of the axis is decreasing
SWLimitMinActive OUTPUT BOOL
n Software limit switch
– TRUE: Software Limit switch Minimum active (Minimum
position in negative direction exceeded).
SWLimitMaxActive OUTPUT BOOL
n Software limit switch
– TRUE: Software limit switch Maximum active (Max-
imum position in positive direction exceeded).
HWLimitMinActive OUTPUT BOOL
n Hardware limit switch
– TRUE: Negative hardware limit switch active on the
drive (NOT- Negative Overtravel).
HWLimitMaxActive OUTPUT BOOL
n Hardware limit switch
– TRUE: Positive hardware limit switch active on the
drive (POT- Positive Overtravel).
Axis IN_OUT MC_AXIS_REF Reference to the axis.
*) This parameter is not supported by all drives, e.g. Sigma 5 via EtherCAT does not support this parameter.
VIPA SPEED7
Motion control - Simple Motion Control Library
Blocks for axis control > Simple motion tasks
HB00 | OPL_SP7 | Operation list | en | 18-30 547