YASKAWA JEPMC-MP2300-Y Series User Manual page 440

7 Motion Commands
7.2.22 Speed Reference (VELO)
[ b ] Monitoring Parameters
Parameter
IB 001 Servo ON
IL 02
Warning
IL 04 Alarm
Servo Command Type
IW 08
Response
IB 090
Command Executing
Command Hold
IB 091
Completed
IB 093 Command Error End
Command Execution
IB 098
Completed
Distribution
IB 0C0
Completed
IB 0C1 Positioning Completed
IB 0C3 Position Proximity
( 5 ) Timing Charts
[ a ] Normal Execution
7-82
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 23 during VELO command execution.
Turns ON when abort processing is being performed for VELO command. Turns
OFF when abort processing has been completed.
Always OFF for VELO command.
Turns ON if an error occurs during VELO command execution.
The axis will decelerate to a stop if it is operating. Turns OFF when another
command is executed.
Always OFF for VELO command.
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.
The operation of this bit depends on the setting of Positioning Completed Width 2
(setting parameter OL
OL 20 = 0: Turns ON when pulse distribution has been completed (DEN =
OL 20
OW 08 = 23 (VELO)
IW 08 = 23 (VELO)
IB 090 (BUSY)
IB 093 (FAIL)
IB 098 (COMPLETE)
IB 0C0 (DEN)
1 scan
Monitor Contents
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 Completed Width 2,
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