Yaskawa MP2200 Machine Controller - Manual (Page 315)

5.2 Motion Command Details
5-85
[ b ] Monitoring Parameters
( 4 ) Timing Charts
[ a ] Normal End
[ b ] Error End
Parameter Name Monitor Contents
IL††02 Warning Stores the most current warning.
IL††04 Alarm Stores the most current alarm.
IW††08
Servo Command Type
Response Indicates the motion command that is being executed.
The response code is 15 during KPS command execution.
IB††090 Command Executing
Turns ON during KPS command execution and turns OFF when execution has been
completed.
IB††091
Command Hold
Completed
Always OFF for KPS command.
IB††093 Command Error End
Turns ON if an error occurs during KPS command execution. Turns OFF when
another command is executed.
IB††098
Command Execution
Completed
Turns ON when KPS command execution has been completed.
OW 08 = 15 (KPS)
IW 08 = 15 (KPS)
IB 090 (BUSY)
IB 098 (COMPLETE)
IB 093 (FAIL)
Undefined length
of time
OW 08 = 15 (KPS)
IW 08 = 15 (KPS)
IB 090 (BUSY)
IB 098 (COMPLETE)
IB 093 (FAIL)
Undefined length
of time