YASKAWA MP2100 Series User Manual page 293

8 Motion Commands
(b) Monitoring Parameters
Parameter
IB 001
IL 02
IL 04
IW 08
IB 090
IB 091
IB 093
IB 098
(4) Timing Charts
(a) Normal Execution
(b) Execution when an Alarm Occurs
8-84
Name
Servo ON
Indicates the Servo ON status.
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
Warning Stores the most current warning.
Alarm Stores the most current alarm.
Servo Command Indicates the motion command that is being executed.
Type Response
The response code will be 25 during PHASE command execution.
Command Executing Always OFF for PHASE command.
Hold Completed Always OFF for PHASE command.
Command Error End
Turns ON if an error occurs during PHASE command execution. The axis will
decelerate to a stop if it is moving. Turns OFF when another command is executed.
Command Always OFF for PHASE command.
Completed
OW 08 = 25 (PHASE)
IW 08 = 25 (PHASE)
IB 090 (BUSY)
IB 093 (FAIL)
IB 098 (COMPLETE)
IB 0C0 (DEN)
OW 08 = 25 (PHASE)
Alarm
IW 08 = 25 (PHASE)
IB 090 (BUSY)
IB 093 (FAIL)
IB 098 (COMPLETE)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
Monitor Contents
Target position is changed automatically in every scan.
1 scan
1 scan
Undefined length of time
Undefined length of time