YASKAWA JEPMC-MP2300-Y Series User Manual page 366

7 Motion Commands
7.2.1 Positioning (POSING)
[ b ] Monitoring Parameters
Parameter
IB 001 Servo ON
IL 02 Warning
IL 04 Alarm
Servo Command
IW 08
Type Response
Command
IB 090
Executing
Command Hold
IB 091
Completed
Command Error
IB 093
End
Command
IB 098 Execution
Completed
Distribution
IB 0C0
Completed
Positioning
IB 0C1
Completed
IB 0C3 Position Proximity
7-8
Name
Indicates the Servo ON status.
ON: Power supplied to Servomotor, OFF: 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 (OB
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
command.
Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of the move command.
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
OL 20 = 0: Turns ON when pulse distribution has been completed (DEN =
≠
OL 20 0: Turns ON when the absolute value of the difference between MPOS
Monitor Contents
090) bit to 1 during POSING command execution.
0C1) to confirm completion of this
20).
ON). Otherwise, it turns OFF.
and APOS is less than the Position Proximity Setting even if pulse
distribution has not been completed.
OFF in all other cases.
SVR
R
R
R
R
R
R
R
R
R
R
R