Yaskawa MP920 Motion Module - Manual (Page 273)

6 SVB Module Specifications and Handling
6.2.3 Motion Monitoring Parameters
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6.2.3 Motion Monitoring Parameters
Table 6.4 Motion Monitoring Parameters
No. Name Register
Number
Setting Range/
Bit Name
Description
1 RUN Status
(RUNSTS) IW††00 Monitors SVB Modules operating status. The bit configuration is described below.
Bit 0 Not used. −
Bit 1 Motion Setting
Parameter
Setting Error
(PRMERR) Turns ON when one or more of the motion setting parameters
(OW††00 to OW††3F) is set outside the setting range. In this
case, the most recent motion setting parameter number that caused the
setting range alarm will be indicated at IW††0F: Parameter Number
Out of Range.
Bit 2 Motion Fixed
Parameter
Setting Error
(FPRMERR) Turns ON when a motion fixed parameter is set outside the setting
range. In this case, the most recent motion setting parameter number
that caused the setting range alarm plus 100 will be indicated at
IW††0F: Parameter Number Out of Range.
Turns OFF automatically if an ordinary motion fixed parameter is set
from the MPE720.
Bits 3 to 6 Not used. −
Bit 7 Motion Control-
ler RUN Ready
(SVCRDY) Turns ON when RUN preparations for SVB Modules have been com-
pleted. The following may be reason why RUN preparations are not
completed.
• Major fault has occurred.
• Fixed parameter No. 1 (Axis Selection) is set to “Not used.”
• Motion fixed parameter setting error occurred.
• Motion fixed parameters are being changed.
Bit 8 Motion
Controller RUN
(SVCRUN) Turns ON under the following conditions.
• IB††07: RUN Ready turns ON.
• Any of OB††00 to OB††004: Control Mode Flags turns ON.
• OB††01: Servo ON turns ON.
If an alarm is generated even though this bit is ON in Position Control
Mode when an OW††20: Motion Command Code is used, the axis
will not move even if a motion command is issued.
After clearing the alarm, set the motion command to “NOP” for at
least one scan and then set the motion command again.
Bits 9 to 12 Not used. −
Bit 13 Positioning
Completed
Signal
(POSCOMP) Turns ON when MECHATROLINK SERVOPACK status is “posi-
tioning completed” (PSET = ON).
Bits 14 to
15 Not used. −
2 Servo Driver
Status
(SVSTS) IW††01 Monitors the MECHATROLINK servo status.
Refer to Status Monitor (IW
†† 01) in 8.2 Alarms and Actions Taken.