Yaskawa MP920 Motion Module - Manual (Page 138)

4 Parameters
4.2.3 Motion Monitoring Parameters
4-18
4.2.3 Motion Monitoring Parameters
Motion monitoring parameters are parameters reported by Motion Modules. They are
located at the top of high-speed scans and are reported together. Use these parameters to
control applications and to debug user programs.
Table 4.4 Motion Monitoring Parameters
No. Name Register
Number
Setting Range
(Bit Name)
Meaning Remarks SVA
-01A
SVA
-02 A
SVB
-01
PO-
01
1 RUN Status
(RUNSTS) IW††00 Bit 0: EOVER Error Counter Over √ √ − −
Bit 1: PRMERR Motion Setting Parameter Setting Error √ √ √ √
Bit 2: FPRMERR Motion Fixed Parameter Setting Error √ √ √ √
Bit 3: Not used. − − − − −
Bit 4: PGER Cumulative Number of Rotations Received
Error (absolute encoder) √ √ − −
Bit 5: Not used. − − − − −
Bit 6: Not used. − − − − −
Bit 7: SVCRDY Motion Controller RUN Ready √ √ √ √
Bit 8: SVCRUN Motion Controller RUN √ √ √ √
Bit 9: DIRINV Rotation Direction when Using Absolute
Encoder √ √ − −
Bit 10: ABCRDC Absolute Position Read Completed Signal √ √ − −
Bit 11: DINT DI Latch Completed Signal √ √ − −
Bit 12: FBPO Feedback Pulse 0 √ √ − −
Bit 13: POSCOMP Positioning Completed Signal √ √ √ √
Bit 14: Not used. − − − − −
Bit 15: ZRNC Zero Point Return Completed Signal √ √ − −
2 Servo Driver
Status
(SVSTS) IW††01 Bits 0 to 15 The meaning of each bit differs depending on
the Module model. For details, refer to the mon-
itoring parameters for the relevant Module. − − √ −
General-pur-
pose DI Moni-
tors √ √ − √
3 Machine Coor-
dinate System
Calculation
Position
(CPOS) IL††02
-2
31
to 2
31
-1
1 = 1 pulse or 1 = 1 reference unit
1 = 1 pulse for pulse unit
Updated when the machine is locked. √ √ √ √
5 Target Position
Difference
Monitor
(PTGDIF) IL††04
-2 31 to 2 31 -1
1 = 1 pulse or 1 = 1 reference unit
1 = 1 pulse for pulse unit √ √ − √
7 Machine Coor-
dinate System
Latch Position
(LPOS) IL††06
-2 31 to 2 31 -1
1 = 1 reference unit
(1 = 1 pulse for pulse unit) √ √ √ −