YASKAWA MP2000 Series User Manual page 151

7.2 Motion Command Details
7.2.2 External Positioning (EX_POSING)
[ b ] Monitoring Parameters
Parameter
IW00
Bit 1
IL02
IL04
IW08
IW09
Bit 0
IW09
Bit 1
IW09
Bit 3
IW09
Bit 8
IW0C
Bit 0
IW0C
Bit 1
IW0C
Bit 2
IW0C
Bit 3
IL18
7-12
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 2 during EX_POSING command execution.
Command
Turns ON during EX_POSING command execution.
Execution Flag
Turns OFF when command execution has been completed.
Turns ON when a deceleration to a stop has been completed as the result of setting the Holds
Command Hold
A Command bit (OW09, bit 1) to 1 during EX_POSING command execution (IW08
Completed
= 2).
Turns ON if an error occurs during EX_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
Execution
Turns ON when EX_POSING command execution has been completed.
Completed
Discharging
Turns ON when pulse distribution has been completed for the move command.
Completed
Turns OFF during execution of a move command.
Positioning
Turns ON when pulse distribution has been completed and the current position is within the
Completed
Positioning Completed Width. OFF in all other cases.
Turns OFF when a new latch command is executed and turns ON when the latch has been
Latch Completed
completed. The latched position is stored as the Machine Coordinate System Latch Position
(monitoring parameter IL18).
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
Machine
Stores the current position in the machine coordinate system when the latch signal turned
Coordinate System
ON.
Latch Position
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.