Yaskawa MP2200 Machine Controller - Manual (Page 325)

5.2 Motion Command Details
5-95
[ 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 will be 20 during ALM_HIST command execution.
IB††090 Command Executing
Turns ON during ALM_HIST command execution and turns OFF when execution has
been completed.
IB††091
Command Hold
Completed
Always OFF for ALM_HIST command.
IB††093 Command Error End
Turns ON if an error occurs during ALM_HIST command execution. Turns OFF when
another command is executed.
IB††098
Command Execution
Completed
Turns ON when ALM_HIST command execution has been completed.
IW††2D Servo Alarm Code Stores the SERVOPACK alarm code that was read.
OW 08 = 20 (ALM_HIST)
IW 08 = 20 (ALM_HIST)
IB 090 (BUSY)
IW 2D
Alarm code (0) Alarm
code (0) Specified
alarm code
IB 098 (COMPLETE)
IB 093 (FAIL)
Undefined length
of time
Alarm code (0) Alarm
code (0) Alarm
code (0)
OW 08 = 20 (ALM_HIST)
IW 08 = 20 (ALM_HIST)
IB 090 (BUSY)
IW 2D
IB 098 (COMPLETE)
IB 093 (FAIL)
Undefined length
of time