Yaskawa MotionWorks+ Windows Software - Manual (Page 129)

MotionWorks+™ Programming Tools
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mState_Main_Latch - Status bit that indicates the condition of the main (SGDH) latch
input. A "0" indicates that the latch has not occurred yet; a "1" means the latch has
occurred, and the position values stored in mPosition_Latch_Main and
mPosition_Latch_Main 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_MainPower - Status bit that has a value of "1" when the SGDH has main power
applied. It does not indicate whether control power is applied to the servo amplifier.
mState_Program1 - mState_Program8 - Status bit that has a value of “1” when the
program in question is running, and a “0” when the program is not running.
mState_ServoReady - A status bit that has a value of "1" if the servo has no alarms, and
the main power is applied. The servo however, may not be enabled. Check the status of
mState_SVON, which will indicate if the servo is in RUN mode.
mState_SVON - Status bit that has a value of "1" when the servo is enabled (run), and a
value of "0" when disabled. If the main power is removed, or the SGDH has an alarm,
this bit will have a value of "0".
mTime - A free running counter that counts milliseconds since the power was turned on.
The counter is updated every high scan; therefore its resolution is the same as the high
scan. The counter uses a 32-bit variable and rolls over automatically as follows:
0 >> 2147483647 >> -2147483648 >> 0 >> 2147483647 etc.
mTorque_Actual - The torque output of the servo expressed as a percentage of rated
torque (i.e., 30000 = 300%).
mWarningOverload - A status bit that has a value of one when the SGDH has a warn-
ing code of A91. (The servo is being overloaded and will cause a fault and shut down
soon if the load is not decreased.
mWarningRegen - A status bit that has a value of one when the SGDH has a warning
code of A92. The servo is decelerating hard with a large load, which is stressing the
regenerative capabilities of the unit, and if it persists, the amplifier will cause a fault and
shut down soon.