YASKAWA MP2000 Series User Manual page 145

7.2 Motion Command Details
7.2.1 Positioning (POSING)
[ b ] Monitoring Parameters
Parameter
IW00
Bit 1
IL02
IL04
IW08
IW09
Bit 0
IW09
Bit1
IW09
Bit 3
IW09
Bit 8
IW0C
Bit 0
IW0C
Bit 1
IW0C
Bit 3
( 5 ) Timing Charts
[ a ] Normal Execution
7-6
Name
Running
Indicates the Servo ON status.
(At Servo ON)
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
Warning
Stores the most current warning.
Alarm
Stores the most current alarm.
Motion Command
Indicates the motion command that is being executed.
Response Code
The response code is 1 during POSING command execution.
Command
Turns ON when abort processing is being performed for POSING command.
Execution Flag
Turns OFF when abort processing has been completed.
Command Hold
Turns ON when a deceleration to a stop has been completed as the result of setting the Holds
Completed
A Command bit (OW09, bit 0) to 1 during POSING command execution.
Turns ON if an error occurs during POSING command execution.
Command Error
The axis will decelerate to a stop if it is moving. Turns OFF when another command is exe-
Completed Status
cuted.
Command
Always OFF for POSING command.
Execution
Use the Positioning Completed bit (IW0C, bit 1) to confirm completion of this com-
Completed
mand.
Discharging
Turns ON when pulse distribution has been completed for the move command.
Completed
Turns OFF during execution of the move command.
Positioning
Turns ON when pulse distribution has been completed and the current position is within the
Completed
Width of Positioning Completion. OFF in all other cases.
The operation depends on the setting of the NEAR Signal Output Width (setting parameter
OL20).
OL20 = 0:Turns ON when pulse distribution has been completed (DEN = ON). Other-
NEAR Position
OL20
OW08 = 1 (POSING)
IW08 = 1 (POSING)
IW09, bit 0 (BUSY)
IW09, bit 3 (FAIL)
IW09, bit 8 (COMPLETE)
IW0C, bit 0 (DEN)
IW0C, bit 1 (POSCOMP)
1 scan
Monitor Contents
wise, it turns OFF.
≠
0:Turns ON when the absolute value of the difference between MPOS
(IL12) and APOS (IL16) is less than the NEAR Position Setting
even if pulse distribution has not been completed.
OFF in all other cases.
Undefined length of time