YASKAWA MP2100 Series User Manual page 419

13 Troubleshooting
13.3.2 Motion Error Details and Corrections
(18) Monitoring Status (IW
The status of the SERVOPACK can be monitored in the bits of monitoring parameter IW
Bit No.
Bit 0 Alarm (ALARM)
Bit 1 Warning (WARNG)
Bit 2 Command Ready (CMDRDY)
Bit 3 Servo ON (SVON)
Bit 4 Main Power ON (PON)
Bit 5
Machine Lock (MLOCK)
Bit 6
Zero Point Position (ZPOINT)
Bit 7
Positioning Completed (PSET)
Bit 8 Distribution Completed (DEN)
Bit 9 Torque Being Limited (T_LIM)
Bit A Latch Completed (L_CMP)
Bit B Position Proximity (NEAR)
Bit C
Positive Soft Limit (P-SOT)
Bit D
Negative Soft Limit (N-SOT)
Bit E Reserved.
Bit F Reserved.
13-32
2C)
Status
OFF: No alarm occurred.
ON: Alarm occurred.
OFF: No warning occurred.
ON: Warning occurred.
OFF: Command cannot be received.
ON: Command can be received.
OFF: Servo OFF.
ON: Servo ON.
OFF: Main power OFF.
ON: Main power ON.
OFF: Machine lock mode released.
ON: Machine lock mode.
OFF: Not in Zero Point Position Range
ON: In Zero Point Position Range
OFF: Pulse distribution not completed or not in Positioning Completed
Width.
ON: Pulse distribution completed and in Positioning Completed Width.
OFF: Distributing positioning pulses.
ON: Pulse distribution completed for positioning.
OFF: Torque not being limited.
ON: Torque being limited.
OFF: Latch not completed.
ON: Latch completed.
OFF: APOS is outside Position Proximity Range.
ON: APOS is inside Position Proximity Range.
OFF: Not in Positive Soft Limit Range.
ON: In Positive Soft Limit Range.
OFF: Not in Negative Soft Limit Range.
ON: In Negative Soft Limit Range.
2C.
Description