Yaskawa MP2200 Machine Controller - Manual (Page 342)

5 Motion Commands
5.2.24 Phase References (PHASE)
5-112
[ b ] Monitoring Parameters
( 4 ) Timing Charts
[ a ] Normal Execution
Parameter Name Monitor Contents
IB††001 Servo ON
Indicates the Servo ON status.
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
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 25 during PHASE command execution.
IB††090 Command Executing Always OFF for PHASE command.
IB††091
Command Hold
Completed
Always OFF for PHASE command.
IB††093 Command Error End
Turns ON if an error occurs during PHASE command execution. The axis will
decelerate to a stop if it is moving. Turns OFF when another command is executed.
IB††098
Command Execution
Completed
Always OFF for PHASE command.
IB††0C0
Distribution
Completed Turns ON when pulse distribution has been completed for the move command. Turns
OFF during execution of a move command.
IB††0C1
Positioning
Completed Turns ON when pulse distribution has been completed and the current position is within
the positioning completed range. OFF in all other cases.
IB††0C3 Position Proximity
The operation of this bit depends on the setting of Positioning Completed Width 2
(setting parameter OL††20).
• OL††20 = 0: Turns ON when pulse distribution has been completed (DEN = ON).
• OL††20
≠ 0: Turns ON when the absolute value of the difference between the
Machine Coordinate Feedback Position (monitoring parameter IL††16) and the
Machine Coordinate System Position (monitoring parameter IL††12) is less than
the Position Completed Width 2, even if pulse distribution has not been completed.
OFF in all other cases.
OW 08 = 25 (PHASE)
IW 08 = 25 (PHASE)
IB 090 (BUSY)
IB 098 (COMPLETE)
IB 093 (FAIL)
IB 0C0 (DEN)
1 scan
IB 0C1 (POSCOMP)
The Target Position is automatically refreshed every scan.
Undefined length of time