YASKAWA SVC User Manual page 153

4.2 Motion Command Details
4.2.1 POSING (Positioning)
Register
Address
OL36
OL38
OW3A Filter Time Constant
 Monitor Parameters
Register
Address
IW00
Bit 1
IL02
IL04
IW08
IW09
Bit 0
IW09
Bit 1
IW09
Bit 3
IW09
Bit 8
IW0C
Bit 0
IW0C
Bit 1
IW0C
Bit 3
4-10
Name
Linear Acceleration
Set the positioning acceleration rate with the acceleration rate or the
Rate/Acceleration
acceleration time.
Time Constant
Linear Deceleration
Set the positioning deceleration rate with the deceleration rate or the
Rate/Deceleration
deceleration time.
Time Constant
Set the acceleration/deceleration filter time constant. Exponential
acceleration/deceleration or a moving average filter can be selected in
bits 8 to B in OW03.
This setting can be changed only when distribution has been com-
pleted (i.e., when bit 0 in IW0C is 1).
Name
Running with Servo This bit shows the Servo status for the axis.
ON 0: Stopped, 1: Running with Servo ON
Warnings This parameter reports the current warning status.
Alarms This parameter reports the current alarm status.
Motion Command This parameter shows the motion command currently in execution.
Response Code This parameter is 1 during execution of the POSING command.
This bit changes to 1 (Processing) when cancel processing is being per-
Command Execu-
formed for the POSING command. This bit changes to 0 (Completed)
tion Flag
when cancel processing has been completed.
This bit changes to 1 (Completed) when IW08 is 1 (execution of
Command Hold
the POSING command is in progress), bit 0 (Hold Command) in
Completed
OW09 is 1, and the axis completely decelerates to a stop.
This bit changes to 1 (Completed with an error) when an error occurs
during execution of the POSING command. The axis will decelerate to a
Command Error End
stop if it is moving. This bit changes to 0 (Completed normally) when
another command is executed.
This bit is always 0 (Normal execution not completed) for the POSING
Command Execu- command.
tion Completed Check bit 1 in IW0C to see if the POSING command has been
completed.
This bit changes to 1 (Distribution completed) when the distribution for
Distribution Com- the travel motion command is completed.
pleted This bit is 0 (Distributing pulses) when the execution of a travel motion
command is in progress.
This bit is 1 (Within positioning completed range) when distribution is
Positioning Com- completed and the current position is within the positioning completed
pleted range.
This bit is 0 (Outside positioning completed range) in all other cases.
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-
Near Position 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
Continued from previous page.
Setting Details
Monitored Contents