Servo Driver Status And Servo Driver Error Codes - YASKAWA MP2300 User Manual

6 Maintenance and Inspection

6.7.3 Servo Driver Status and Servo Driver Error Codes

6.7.3 Servo Driver Status and Servo Driver Error Codes
( 1 ) Servo Driver Status (IW2C) List
The status of a SERVOPACK for MECHATROLINK communication can be monitored in Servo Driver Status moni-
toring parameter IWoo2C.
A list is provided in the following table.
Bit No.
Alarm
Bit 0
(ALARM)
Warning
Bit 1
(WARNG)
Command Ready
Bit 2
(CMDRDY)
Servo ON
Bit 3
(SVON)
Main Power Supply ON
Bit 4
(PON)
Machine Lock
Bit 5
(MLOCK)
Zero Position
Bit 6
(ZPOINT)
Locating Complete
Bit 7
(PSET)
Commanded Profile
Complete
Bit 8
(DEN)
Torque Restriction
Bit 9
(T_LIM)
Latch Complete
Bit A
(L_CMP)
Locating Neighborhood
Bit B
(NEAR)
Position Software Limit
Bit C
(P-SOT)
Negative Software Limit
Bit D
(N-SOT)
Reserved
Bit E
Reserved
Bit F
6-36
Status
0: No alarm occurred.
1: Alarm occurred.
0: No warning occurred.
1: Warning occurred.
0: Command reception not possible (busy).
1: Command reception possible (ready).
0: Servo OFF (baseblock)
1: Servo ON (baseblock cleared)
0: Main power OFF
1: Main power ON
0: Machine lock released
1: Machine locked
0: The APOS (absolute position) is not in the zero point.
1: The APOS (absolute position) is in the zero point range.
0: Pulse distribution is not completed or the APOS is not in the positioning completed
width.
1: Pulse distribution is completed and the APOS is within the positioning completed
width.
0: Pulse distribution is being performed for positioning command.
1: Pulse distribution for positioning commands has been completed
0: A torque limit is not being applied.
1: A torque limit is being applied.
0: Latch not completed.
1: Latch completed.
0:The APOS is outside the NEAR Signal Output Width.
1: The APOS is inside the NEAR Signal Output Width.
0: The positive software limit has not been exceeded.
1: The positive software limit has been exceeded.
0: The negative software limit has not been exceeded.
1: The negative software limit has been exceeded.
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Description