YASKAWA MP2100 Series User Manual page 189

7 Motion Parameters
7.2.3 Motion Monitoring Parameter Details
(5) Motion Command Response Codes
Stores the motion command code for the command that is being executed.
This is the motion command code that is currently being executed and is not necessarily the same as the Motion Command
(setting parameter OW
Response codes are also stored when the following processing is executed.
• Servo ON: 29
• Servo OFF: 30
• Clear alarms: 31
(6) Motion Command Status
IW 09
(7) Motion Subcommand Response Code
Stores the motion subcommand code that is being executed.
This is the motion subcommand code that is currently being executed and is not necessarily the same as the Motion Sub-
command (setting parameter OW
Subcommands are used by the system for latch commands and reading/writing parameters.
7-34
Servo Command Type Response
IW 08
08).
Servo Module Command Status
IW 09
Bit 0 Command Executing (BUSY)
This bit indicates the motion command status. Refer to Chapter 8 Motion Commands
for details on command timing charts.
OFF: READY (completed)
ON: BUSY (processing)
This bit turns ON during execution of commands that have completions or during
abort processing.
Bit 1 Command Hold Completed (HOLDL)
This bit turns ON when command hold processing has been completed. Refer to Chap-
ter 8 Motion Commands for details on command timing charts.
OFF: Command hold processing not completed
ON: Command hold completed
Bit 3
Command Error Occurrence (FAIL)
This bit turns ON if motion command processing does not complete normally.
If motion command execution ends in an error, the axis will stop any motion. Refer to
Chapter 8 Motion Commands for details on command timing charts.
OFF: Normal completion
ON: Abnormal completion
Bit 7 Reset Absolute Encoder Completed
This bit turns ON when the Reset Absolute Encoder command (ABS_RST) is exe-
cuted and initialization is completed.
Refer to Chapter 8 Motion Commands for details on command timing charts.
OFF: Reset not completed
ON: Reset completed
Bit 8 Command Execution Completed (COMPLETE)
This bit turns ON when motion command processing completes normally. Refer to
Chapter 8 Motion Commands for details on command timing charts.
OFF: Normal execution not completed
ON: Normal execution completed
Motion Subcommand Response Code
IW 0A
0A).
Range
0 to 65535
Range
−
Range
0 to 65535
Unit
−
Unit
−
Unit
−