YASKAWA MP210 Series User Manual page 306

Appendix D Motion Parameter Lists
D.1.3 Monitoring Parameter List
Register No.
IL1C
IL1E
IL20
IL22
to IL2A
IW2C
IW2D
IW2E
IW2F
IL30
IL32
IL34
D-12
Name
Reference Position
Incrementing Value 1 = 1 reference unit
Monitor
1 = 1 turn
Number of POSMAX
Turns
Note: Invalid for linear type
Speed Reference
pulse/s
Output Monitor
− Reserved for system use
Bit 0: Alarm Occurrence (ALM)
Bit 1: Warning Occurrence (WARNING)
Bit 2: Command Ready (CMDRDY)
Bit 3: Servo ON (SVON)
Bit 4: Main Power Supply ON (PON)
Bit 5: Machine Lock (MLOCK)
Bit 6: Zero Position (ZPOINT)
Servo Driver Status Bit 7: Positioning Complete (PSET)/Speed Coincidence (V-CMP)
Bit 8: Commanded Profile Complete (DEN)/Zero Speed (ZSPD)
Bit 9: Torque Restriction (T_LIM)
Bit A: Latch Complete (L_CMP)
Bit B: Locating Neighborhood (NEAR)/Speed Limit (V_LIM)
Bit C: Position Software Limit (P-SOT)
Bit D: Negative Software Limit (N-SOT)
Bits E to F: Reserved for system use
Servo Driver Alarm
Stores the alarm codes from the servo driver.
Code
Bit 0: Positive Drive Prohibited Input (P_OT)
Bit 1: Negative Drive Prohibited Input (N_OT)
Bit 2: Zero Point Return Deceleration Limit Switch Input (DEC)
Bit 3: Encoder Phase-A Input (PA)
Bit 4: Encoder Phase-B Input (PB)
Bit 5: Encoder Phase-C Input (PC)
Bit 6: First External Latch Input (EXT1)
Network Servo I/O
Bit 7: Second External Latch Input (EXT2)
Monitor
Bit 8: Third External Latch Input (EXT3)
Bit 9: Brake Output (BRK)
Bit A*: Stop Signal (HWBB)
Bit B: Reserved for system use
Bit C to Bit F:
For SGDH + NS115, SGDS, SGDV:
CN1 input signal (IO12 to IO15)
For other SERVOPACKs: Reserved for system use
Bits 0 to 3: Monitor 1
Bits 4 to 7: Monitor 2
Servo Driver User
Monitor Information
Bits 8 to B: Monitor 3
Bits C to F: Monitor 4
Servo Driver User
Stores the result of the selected monitor.
Monitor 2
Servo Driver User
Reserved for system use
Monitor 3
Servo Driver User
Stores the result of the selected monitor.
Monitor 4
Contents
(cont'd)
SVB SVR
Yes
Yes Yes
Yes –
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Yes
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Yes –
Yes
Yes –
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Yes
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Yes –