YASKAWA JEPMC-MP2300-Y Series User Manual page 342

6 Motion Parameters
6.4.3 Motion Monitoring Parameter Details
( 8 ) Motion Subcommand Status
IW 0B
Motion Subcommand Status
Bit 0
Description
Bit 3
Bit 8
( 9 ) Position Management Status
IW 0C
Position Management Status
Bit 0
Bit 1
Description
Bit 2
Bit 3
6-52
Command Executing (BUSY)
OFF: READY (completed)
ON: BUSY (processing)
This bit indicates the motion subcommand status.
This bit turns ON during execution of commands that have been completed or during abort processing.
Command Error Occurrence (FAIL)
OFF: Normal completion
ON: Abnormal completion
This bit turns ON if motion subcommand processing does not complete normally.
Command Execution Completed (COMPLETE)
OFF: Normal execution not completed
ON: Normal execution completed
This bit turns ON when motion subcommand processing was completed normally.
Distribution Completed (DEN)
OFF: Distributing pulses.
ON: Distribution completed.
This bit turns ON when pulse distribution has been completed for a move command. This bit turns ON when the
SERVOPACK parameter Distribution Completed (monitoring parameter IB
internal distribution processing is completed.
Positioning Completed (POSCOMP)
OFF: Outside Positioning Completed Width.
ON: In Positioning Completed Width.
This bit turns ON when pulse distribution has been completed and the current position is within the Positioning
Completed Width (i.e., after SERVOPACK Positioning Completed (IB
Latch Completed (LCOMP)
OFF: Latch not completed.
ON: Latch completed.
This bit turns OFF when a new latch command is executed and turns ON when the latch has been completed.
The latched position is stored as the Machine Coordinate Latch Position (monitoring parameter IL
Position Proximity (NEAR)
R
OFF: Outside position proximity range.
ON: In position proximity range.
The operation of this bit depends on the setting of Positioning Completed Width 2 (setting parameter
OL 20).
・ OL 20 = 0: This bit turns ON when pulse distribution has been completed (monitoring parameter
IB 0C0).
20 ≠ 0: This bit turns ON when the result of subtracting the Machine Coordinate Feedback Position
・ OL
(IL 16) from the Machine Coordinate System Position (IL
Width 2, even if pulse distribution has not been completed.
Setting Range
R
R
R
Setting Range
R
R
Setting Unit
－ －
Setting Unit
－ －
2C8) turns ON and the SVB's
2C7) turns ON).
12) is less than the Position Completed
18).