YASKAWA MP210 Series User Manual page 305

Register No. Name
Motion Command
IW08
Response Code
Motion Command
IW09
Status
Subcommand
IW0A
Response Code
IW0B Subcommand Status
Position Manage-
IW0C
ment Status
−
IW0D
Target Position in
IL0E Machine Coordinate
System (TPOS)
Calculated Position in
IL10 Machine Coordinate
System (CPOS)
Machine Coordinate
IL12 System Reference
Position (MPOS)
CPOS for 32 bit
IL14
(DPOS)
Machine Coordinate
IL16 System Feedback
Position (APOS)
Machine Coordinate
IL18 System Latch
Position (LPOS)
IL1A Position Error (PERR) 1 = 1 reference unit
Contents
Same as OW08 (Motion Command).
Bit 0: Command Execution Flag (BUSY)
Bit 1: Command Hold Completed (HOLDL)
Bit 2: Reserved for system use
Bit 3: Command Error Completed Status (FAIL) (Command
Encoder Type Error)
Bits 4 to 6: Reserved for system use
Bit 7: Reset Absolute Encoder Completed
Bit 8: Command Execution Completed (COMPLETE)
Bits 9 to F: Reserved for system use
Same as OW0A (Motion Subcommand).
Bit 0: Command Executing Flag
Bits 1 to 2: Reserved for system use
Bit 3: Command Error Completed Status (Command Error
Occurrence)
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 Complete (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)
Bit 7: Reserved for system use
Bit 8: ABS Rotary Pos. LOAD Complete (ABS System
Infinite Length Position Control Information Load Com-
pleted) (ABSLDE)
Note: Invalid for linear type
Bit 9: POSMAX Turn Preset Complete (TPRSE)
Note: Invalid for linear type
Bits A to F: Reserved for system use
Reserved for system use
1 = 1 reference unit
1 = 1 reference unit
1 = 1 reference unit
1 = 1 reference unit
1 = 1 reference unit
1 = 1 reference unit
D.1 Motion Parameter Lists
(cont'd)
SVB SVR
Yes Yes
Yes Yes
Yes Yes
Yes Yes
– –
Yes –
Yes Yes
– –
Yes Yes
Yes Yes
– –
Yes Yes
– –
Yes Yes
– –
Yes Yes
Yes Yes
Yes –
Yes Yes
Yes Yes
Yes Yes
Yes –
– –
Yes –
Yes Yes
– –
Yes Yes
Yes Yes
Yes Yes
Yes Yes
Yes Yes
Yes –
Yes –
D-11
D