3.4 Motion Parameter Details
3.4.3 Monitor Parameter Details
Position Management Status
Position Management Status
Register
Address
IW0C Position Management Status
Bit 0: Distribution Completed (DEN)
0: Distributing pulses.
1: Distribution completed.
This bit changes to 1 when distribution is completed for a travel motion command. This bit
changes to 1 when the SERVOPACK finishes distribution (bit C in IL28 is set to 1), and all
Motion Control Function Module internal processing related to distribution is completed.
Bit 1: Positioning Completed (POSCOMP)
0: Outside positioning completed range.
1: Within positioning completed range.
This bit changes to 1 when distribution is completed and the current position is within the posi-
tioning completed range (i.e., when bit E of IL28 is 1).
Bit 2: Latch Completed (LCOMP)
0: Latch not complete.
1: Latch completed.
This bit changes to 0 when a new latch command is executed and changes to 1 when the latch
is completed. The latched position is reported in the IL18 monitor parameter (Machine
Coordinate System Latch Position (LPOS)).
Bit 3: Near Position (NEAR)
0: Outside near position range.
1: Within near position range.
Operation depends on the value of OL20 setting parameter (NEAR Signal Output Width).
• When OL20 is 0: This bit changes to 1 when distribution is completed (bit 0 in
IW0C).
• When OL20 is not 0: This bit changes to 1 if within the range calculated by the follow-
ing formula, regardless of the Distribution Completed Flag.
|(IL12) − (IL16)| ≤ OL20
IL12: Machine Coordinate System Reference Position
IL16: Machine Coordinate System Feedback Position
OL20: NEAR Signal Output Width
Bit 4: Zero Point Position (ZERO)
0: Outside zero point position range.
1: Within zero point position range.
This bit changes to 1 when an origin return/setting is completed and the IL12 monitor
parameter (Machine Coordinate System Reference Position (MPOS)) is within the range of the
OW3D setting parameter (Zero Point Position Output Width) from the origin position.
3-76
Name
SVC
SVR
SVC
SVC
SVC
SVR
SVC
SVR
Range
−
−
SVR
Unit