YASKAWA XTRAWARE - V3.0 - Page 249

List of System Variables
XtraWare User Manual 239
Name
Variable ID
(DEC)
Unit
Read / Write
Min Max Description
U.T
1
Group
Max_profile_acceleratio
n
4 Accelera
tion
Units
R 0 214748364
7
Maximum
acceleration while
running motion
commands.
BG System
Profile
Max_profile_velocity 2 Speed
Units
R 0 214748364
7
Maximum speed
value while running
motion commands.
ST System
Profile
Motion_end_window 30 Position
Units
R/
W
0 255 Window for
Following_error_actu
al_value. Specifies
the maximum
satisfactory position
error at the end of a
movement, for use
when Exact_mode is
set to 1. The
WAIT_EXACT
command delays
program flow until
the position error is
smaller than
Motion_end_window.
C System
Profile
Motion_go 24 R/
W
0 1 Indicates whether a
motion command is
being delayed by a
WAIT_FOR_START
command and is
waiting for a START
command before
executing:
0: Motion commands
are not waiting
1: Motion commands
are waiting.
C Status
Motion_mode 23 R -7 7 Motion mode:
0: SPEED_CONTROL
1: POSITION
3: VELOCITY
4: TORQUE
6: HOMING
-1: HUNTING
-3: PULSE_TRAIN
-4: ANALOG_SPEED,
-5:
ANALOG_TORQUE
-7: ECAM
C Status
Motion_status 65 R 0 3 Motion status
indicator.
0: Not in motion.
1: Stopped by
registration.
2: Motion stopped
but not in
registration
requested position.
3: Still in motion.
2 Status