YASKAWA SVC User Manual page 253

4.2 Motion Command Details
4.2.27 EX_FEED (Jog with External Positioning)
 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 2

IW
Bit 3

IL
4-110
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
Latch Completed
0C
Near Position
Machine Coordinate
18 System Latch Posi-
tion
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 34 during execution of the EX_FEED command.
This bit changes to 1 (Processing) when cancel processing is being per-
formed for the EX_FEED command. This bit changes to 0 (Completed)
when cancel processing has been completed.
This bit is always 0 (Command hold not completed) for the EX_FEED
command.
This bit changes to 1 (Completed with an error) when an error occurs
during execution of the EX_FEED 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 EX_FEED
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.
This bit changes to 0 (Latch not complete) when a new latch command
is executed and it changes to 1 (Latch completed) when the latch is
completed. The latched position is reported in IL18.
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
This parameter stores the current position in the machine coordinate
system when the latch signal turned ON.