YASKAWA JEPMC-MP2300-Y Series User Manual page 372

7 Motion Commands
7.2.2 External Positioning (EX_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 0C2 Latch Completed
IB 0C3
Position Proximity
Machine
IL 18
Coordinate Latch
Position
( 5 ) Timing Charts
[ a ] Normal Execution
OW 08 = 2 (EX_POSING)
IW 08 = 2 (EX_POSING)
IB 090 (BUSY)
IB 093 (FAIL)
IB 098 (COMPLETE)
IB 0C0 (DEN)
IB 0C1 (POSCOMP)
Latch signal*
(Phase-C, EXT1,2,3)
IB 0C2 (LCOMP)
(Latch Completed)
7-14
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 is 2 during EX_POSING command execution.
The Command Executing bit will turn ON during EX_POSING command execution
and then turn OFF when command execution has been completed.
Turns ON when a deceleration to a stop has been completed as the result of setting the
Command Pause bit to 1 (OB
(IW 08 = 2).
Turns ON if an error occurs during EX_POSING command execution.
The axis will decelerate to a stop if it is moving. Turns OFF when another command is
executed.
Turns ON when EX_POSING command execution has been completed.
Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of a 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.
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
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
Stores the current position in the machine coordinate system when the latch sig-
nal turned ON.
1 scan
* Latch signal: Phase-C pulse, EXT1, EXT2, or EXT3 signal
Monitor Contents
090 to 1) during EX_POSING command execution
18).
20).
ON). Otherwise, it turns OFF.
0: Turns ON when the absolute value of the difference between
MPOS and APOS is less than the Position Proximity Setting even if
pulse distribution has not been completed.
OFF in all other cases.
This position is stored. (IL
Travel distance
Undefined length of time
SVR
R
R
R
R
R
R
R
R
R
R
−
R
−
18)