YASKAWA MP2000 Series User Manual page 85

5.3 Motion Parameter Lists
5.3.3 Monitoring Parameter List
Register
No.
IW09
IW0A
IW0B Subcommand Status
IW0C
IW0D -
5-14
Name
Bit 0: Command Execution Flag (BUSY)
Bit 1: Command Hold Completed (HOLD)
Bit 2: Reserved for system use
Motion Command Sta-
Bit 3: Command Error Completed Status
tus
Bits 4 to 7: Reserved for system use
Bit 8: Command Execution Completed (COMPLETE)
Bits 9 to F: Reserved for system use
Motion Subcommand
Same as OW0A (Motion Subcommand)
Response Code
Bit 0: Command Execution Flag
Bits 1 and 2: Reserved for system use
Bit 3: Command Error Completed Status
Bits 4 to 7: Reserved for system use
Bit 8: Command Execution Completed
Bits 9 to F: Reserved for system use
Bit 0: Discharging Completed (DEN)
Bit 1: Positioning Completed (POSCOMP)
Bit 2: Latch Completed (LCOMP)
Bit 3: NEAR Position (NEAR)
Bit 4: Zero Point Position (ZERO)
Bit 5: Zero Point Return (Setting) Completed (ZRNC)
Bit 6: During Machine Lock (MLKL)
Position Management
Bit 7: Absolute Position Read-out Completed
Status
Bit 8: ABS Rotary Pos. LOAD Complete (ABS system
 Invalid for linear type
Bit 9: POSMAX Turn Preset Complete (TPRSE)
 Invalid for linear type
Bit A: ABS Encoder Rotating Direction
Bits B to F: Reserved for system use
Reserved for system use
Description
(Command Error Occurrence) (FAIL)
(Command Error Occurrence)
infinite length position control information load com-
pleted) (ABSLDE)
Refer-
ence
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