YASKAWA MP2000 Series User Manual page 222

Parameter
IW0C
NEAR Position
Bit 3
( 4 ) Timing Charts
[ a ] Normal Execution
OW 08 = 25 (PHASE)
IW 08 = 25 (PHASE)
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)
[ b ] Execution when Aborted
OW 08 = 25 (PHASE)
IW 08 = 25 (PHASE)
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)
Name
The operation 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 =
OL20
The speed reference value is automatically refreshed every scan.
1 scan
Phase control mode
The speed reference is refreshed every scan.
1 scan
Phase control mode
Monitor Contents
ON). 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 Setting, even if pulse distribution has not been completed.
OFF in all other cases.
Undefined length of time
Position control mode
Undefined length of time
Position control mode
Speed control mode
7.2 Motion Command Details
7.2.11 Phase References (PHASE)
(cont'd)
7
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