YASKAWA MP2100 Series User Manual page 216

(b) Monitoring Parameters
Parameter Name
IB 001 Servo ON
IL 02 Warning
IL 04 Alarm
IW 08 Servo Command
Type Response
IB 090 Command Executing
IB 091 Hold Completed
IB 093 Command Error End
IB 098 Command
Completed
IB 0C0 Distribution
Completed
IB 0C1 Positioning
Completed
IB 0C3 Position Proximity
Monitor Contents
Indicates the Servo ON status.
ON: Power supplied to Servomotor, 0: Power not supplied to Servomotor
Stores the most current warning.
Stores the most current alarm.
Indicates the motion command that is being executed.
The response code will be 1 during POSING command execution.
Turns ON when abort processing is being performed for POSING command.
Turns OFF when abort processing has been completed.
Turns ON when a deceleration to a stop has been completed as the result of
setting the Command Pause bit (OB
cution.
Turns ON if an error occurs during POSING command execution. The axis will
decelerate to a stop if it is moving. Turns OFF when another command is
executed.
Always OFF for POSING command. Use the Positioning Completed bit
(IB 0C1) to confirm completion of this command.
Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of a pulse distribution.
Turns ON when pulse distribution has been completed and the current position is
within the Positioning Completed Width. OFF in all other cases.
The operation depends on the setting of the Positioning Completed Width 2
(setting parameter OL 20).
OL 20 = 0: Turns ON when pulse distribution has been completed (DEN =
ON).
OL 20≠0: Turns ON when MPOS - APOS< Position Proximity Setting
even if pulse distribution has not been completed.
OFF in all other cases.
8.2 Positioning (POSING)
090) to 1 during POSING command exe-
8
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