YASKAWA JEPMC-MP2300-Y Series User Manual page 400

7 Motion Commands
7.2.5 Latch (LATCH)
[ b ] Monitoring Parameters
Parameter
IB 001 Servo ON
I 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
7-42
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 any alarms that have occurred during execution.
The response code is 6 during LATCH operation.
Always OFF for LATCH operation.
Always OFF for LATCH operation.
Turns ON if an error occurs during LATCH operation. The axis will decelerate to a
stop if it is moving. Turns OFF when another command is executed.
Always OFF for LATCH operation.
Turns ON when distribution has been completed for the move command.
Turns OFF during execution of a move command.
Turns ON when 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 signal
turned ON.
Monitor Contents
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.
SVR
R
R
R
R
R
R
R
R
R
R
−
R
−