YASKAWA MP2000 Series User Manual page 218

[ b ] Monitoring Parameters
Parameter
IW00 Running
Bit 1 (At Servo ON)
IL02 Warning
IL04 Alarm
Motion Command
IW08
Response Code
IW09 Command Execution
Bit 0 Flag
IW09 Command Hold
Bit 1 Completed
IW09 Command Error
Bit 3 Completed Status
IW09 Command Execution
Bit 8 Completed
IW0C Discharging
Bit 0 Completed
IW0C Positioning
Bit 1 Completed
IW0C
NEAR Position
Bit 3
( 5 ) Timing Charts
[ a ] Normal Execution
OW
IW 08= 24 (TRQ)
IW
IW
IW
IW
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 is 24 during TRQ command execution.
Turns ON when abort processing is being performed for TRQ command.
Turns OFF when abort processing has been completed.
Always OFF for TRQ command.
Turns ON if an error occurs during TRQ command execution.
The axis will decelerate to a stop if it is operating. Turns OFF when another command is
executed.
Always OFF for TRQ 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 Width of Positioning Completion. OFF in all other cases.
The operation bit depends on the setting of NEAR Signal Output Width (setting param-
eter OL20).
OL20 = 0: Turns ON when pulse distribution has been completed (DEN = ON).
≠
OL20
08 = 24 (TRQ)
09, bit 0 (BUSY)
09, bit 3 (FAIL)
09, bit 8 (COMPLETE)
0C, bit 0 (DEN)
1 scan
Torque control mode
Monitor Contents
Otherwise, 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 Set-
ting, even if pulse distribution has not been completed.
OFF in all other cases.
Position control mode
Speed control
mode
7.2 Motion Command Details
7.2.10 Torque Reference (TRQ)
7
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