YASKAWA SVC User Manual page 244

 Monitor Parameters
Register
Name
Address

IW 00 Running with Servo
Bit 1 ON

IL 02 Warnings

IL 04 Alarms
Motion Command

IW 08
Response Code

IW 09 Command Execu-
Bit 0 tion Flag

IW 09 Command Hold
Bit 1 Completed

IW 09
Command Error End
Bit 3

IW 09 Command Execu-
Bit 8 tion Completed

IW 0C Distribution Com-
Bit 0 pleted

IW 0C Positioning Com-
Bit 1 pleted

IW 0C
Near Position
Bit 3
Timing Charts
 Normal Execution
OW 08 = 25 (PHASE)
IW 08 = 25 (PHASE)
IW 09 Bit 0 (BUSY)
IW 09 Bit 3 (FAIL)
IW 09 Bit 8 (COMPLETE)
IW 0C Bit 0 (DEN)
IW 0C Bit 1 (POSCOMP)
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 25 during execution of the PHASE command.
This bit is always 0 (Completed) for the PHASE command.
This bit is always 0 (Command hold not completed) for the PHASE com-
mand.
This bit changes to 1 (Completed with an error) when an error occurs
during execution of the PHASE command.
The axis will decelerate to a 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 PHASE
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 distri-
bution is completed (i.e., when DEN is 1), and it is 0 (Outside near posi-
tion 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
The target position is updated automatically every scan period.
1 scan
This interval is not constant.
4.2 Motion Command Details
4.2.24 PHASE (Issue Phase Reference)
Monitored Contents
4
4-101