YASKAWA SVC User Manual page 235

4.2 Motion Command Details
4.2.22 VELO (Issue Speed Reference)
 Monitor Parameters
Register
Address

IW
Bit 1

IL

IL

IW

IW
Bit 0

IW
Bit 1

IW
Bit 3

IW
Bit 8

IW
Bit 0

IW
Bit 1

IW
Bit 3
Timing Charts
 Normal Execution
OW
IW
IW
IW
IW
IW
4-92
Name
00 Running with Servo
ON
02 Warnings
04 Alarms
Motion Command
08
Response Code
09 Command Execu-
tion Flag
09 Command Hold
Completed
09
Command Error End
09 Command Execu-
tion Completed
0C Distribution Com-
pleted
0C Positioning Com-
pleted
0C
Near Position
08 = 23 (VELO)
08 = 23 (VELO)
09 Bit 0 (BUSY)
09 Bit 3 (FAIL)
09 Bit 8 (COMPLETE)
0C Bit 0 (DEN)
1 scan
Monitored Contents
This bit shows the Servo status for the axis.
0: Stopped, 1: Running with Servo ON
This parameter reports the current warning status.
This parameter reports the current alarm status.
This parameter shows the motion command currently in execution.
This parameter is 23 during execution of the VELO command.
This bit changes to 1 (Processing) when cancel processing is being per-
formed for the VELO command. This bit changes to 0 (Completed) when
cancel processing has been completed.
This bit is always 0 (Command hold not completed) for the VELO com-
mand.
This bit changes to 1 (Completed with an error) when an error occurs
during execution of the VELO command.
The axis will decelerate to a stop if it is in operation. This bit changes to
0 (Completed normally) when another command is executed.
This bit is always 0 (Normal execution not completed) for the VELO
command.
This bit changes to 1 (Distribution completed) when the distribution for
the travel motion command is completed.
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
completed and the current position is within the positioning completed
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-
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