YASKAWA MP2000 Series User Manual page 118

( 7 ) Motion Subcommand Response Code
IW0A
Motion Subcommand Response Code
Stores the motion subcommand code for the command that is being executed.
This is the motion subcommand code that is currently being executed and is the same as the Motion Subcommand (setting
Description
parameter OW0A).
( 8 ) Motion Subcommand Status
IW0B
Subcommand Status
Command Execution Flag (BUSY)
This bit indicates the motion subcommand status.
0: READY (completed)
Bit 0
1: BUSY (processing)
This bit turns ON during execution of commands that have been completed or during abort processing.
Command Error Completed Status (FAIL)
0: Normal completion
Description
Bit 3
1: Abnormal completion
This bit turns ON if motion subcommand processing does not complete normally.
Command Execution Completed (COMPLETE)
0: Normal execution not completed
Bit 8
1: Normal execution completed
This bit turns ON when motion subcommand processing was completed normally.
( 9 ) Position Management Status
IW0C
Position Management Status
Discharging Completed (DEN)
0: Distributing pulses.
Bit 0
1: Distribution completed.
This bit turns ON when pulse distribution has been completed for a move command.
Positioning Completed (POSCOMP)
0: Outside positioning completed width.
Bit 1 1: In positioning completed width.
This bit turns ON when pulse distribution has been completed and the current position is within the positioning
completed width.
Latch Completed (LCOMP)
0: Latch not completed.
1: Latch completed.
Bit 2
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 System Latch Position (monitoring parameter
IL18).
Description
NEAR Position (NEAR)
0: Outside position proximity range.
1: In position proximity range.
The operation of this bit depends on the setting of NEAR Signal Output Width (setting parameter OL20).
Bit 3
• OL20 = 0: This bit turns ON when pulse distribution has been completed (monitoring parameter
IW0C, bit 0).
• OL20 ≠ 0: This bit turns ON when the result of subtracting the Machine Coordinate System Feedback
Position (IL16) from the Machine Coordinate System Reference Position (IL12) is less than the
NEAR Signal Output Width, even if pulse distribution has not been completed.
Zero Point Position (ZERO)
0: Outside zero point position range
1: In zero point position range.
Bit 4
This bit turns ON when the Machine Coordinate System Reference Position (monitoring parameter IL12)
is within the Width of Starting Point Position Output (setting parameter OW3D) after a Zero Point Return
(Zero Point Setting) has been completed.
5.4 MP2000 Series Machine Controller Parameter Details
5.4.3 Motion Monitoring Parameter Details
Range
0 to 65535
Range
−
Range
−
Unit
−
Unit
−
Unit
−
5
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