Yaskawa MotionWorks+ Windows Software - Manual (Page 128)

Programming Tools MotionWorks+™
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mState_ABSEncoder_Direction - Status bit that has a value of "0" when the absolute
encoder is counting up for forward direction, and a value of "1" when the absolute
encoder is counting up for the reverse direction.
mState_BrakeEnabled - Status bit that has a value of "1" when the mechanical brake is
disabled and the motor is free to rotate.
mState_Camming - Status word that indicates the current condition of the camming
function. If the value is 2 and the slave is not moving, there may be a stationary period
in the cam table, the CAM SCALE may be at 0%, the external encoder may be set to
“Enabled=false” or if the virtual encoder is selected, it may have a speed of zero.
mState_DIP_Switches - This is a status word that indicates the configuration of the
MP940 DIP Switches. This value could be useful for comparing the DIP switch state of
a controller to the required settings intended by the machine designer (i.e. FLASH and
COPY switches,) and prohibit operation or provide a message to the operator.
mState_External_Latch - Status bit that indicates the condition of the external latch
input on the MP940. Zero indicates that the latch has not occurred yet; one means the
latch has occurred, and the position values stored in mPosition_Latch_External and
mPosition_Latch_External_Counts are valid. When the latch has been armed and a
latch input received, this status bit remains on (“one”) until the latch is re-armed.
mState_Gearing - Status bit indicating the status of electronic gearing. A "0" indicates
that gearing is not enabled; a "1" indicates enabled.
mState_LatchTarget - Indicates the result of the last LATCH TARGET block opera-
tion. When the block is executed, the bit is cleared. If the latch was detected within the
window, the final position target is updated, and this status bit is turned on (1). When
the latch has been armed and a latch input received, this status bit remains on until the
latch is rearmed.
State Description
0 Not camming
1 Slave is waiting to engage
2 Camming is actively synchronized
4 Slave is waiting to disengage