YASKAWA MP2100 Series User Manual page 194

(12) SERVOPACK Status
IW 2C
IW 2C Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
Bit 8
Bit 9
Bit A
Bit B
Bit C
Bit D
Network Servo Status
Range
−
Alarm Occurred (ALM)
OFF: No alarm occurred.
ON: Alarm occurred.
Warning Occurred (WARNING)
OFF: No warning occurred.
ON: Warning occurred.
Command Ready (CMDRDY)
OFF: Command cannot be received.
ON: Command can be received.
Servo ON (SVON)
OFF: Servo OFF.
ON: Servo ON.
Main Power ON (PON)
OFF: Main power OFF.
ON: Main power ON.
Machine Lock (MLOCK)
OFF: Machine lock mode released.
ON: Machine lock mode.
Zero Point Position (ZPOINT)
OFF: Outside Zero Point Position Range.
ON: In Zero Point Position Range.
Positioning Completed (PSET)
OFF: Outside Positioning Completed Width.
ON: In Positioning Completed Width (for position control).
Speed Coincidence (V-CMP)
OFF: Speed does not agree.
ON: Speed agrees (for speed control).
Distribution Completed (DEN)
OFF: Distributing pulses.
ON: Distribution completed (for position control).
Zero Speed (ZSPD)
OFF: Zero speed not detected.
ON: Zero speed detected (for speed control).
Torque Being Limited (T_LIM)
OFF: Torque not being limited.
ON: Torque being limited.
Latch Completed (L_CMP)
OFF: Latch not completed.
ON: Latch completed.
Position Proximity (NEAR)
OFF: Outside Position Proximity Range.
ON: In Position Proximity Range.
Speed Limit (V_LIM)
OFF: Speed limit not detected.
ON: Speed limit detected.
Positive Soft Limit (Positive Software Limit) (P_SOT)
OFF: In Positive Software Limit Range.
ON: Outside Positive Software Limit Range.
Negative Soft Limit (Negative Software Limit) (N_SOT)
OFF: In Negative Software Limit Range.
ON: Outside Negative Software Limit Range.
7.2 Motion Parameter Details
Unit
−
7
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