Yaskawa MP920 Motion Module - Manual (Page 274)

6.2 SVB-01 Parameters
6-39
6
3 Calculated
Position in
Machine
Coordinate
System
(CPOS) IL††02
-2 31 to 2 31 -1
Indicates the calculated position in a machine coordinate system con-
trolled by SVB Modules.
5 Not used. IL††04 − −
7 Machine
Coordinate
System Latch
Position
(LPOS) IL††06
-2 31 to 2 31 -1
Indicates the latch position in a machine coordinate system controlled
by SVB-01 Modules. It is refreshed when Motion Command Code
(OW††20) is set to 1 (External Positioning) or 6 (Interpolation with
Position Detection Function) and latching is completed.
1 = 1 reference unit (when specified as pulse units: 1 = 1 pulse)
9 Machine Coor-
dinate System
Feedback Po-
sition (APOS) IL††08
-2
31
to 2
31
-1
Indicates the feedback position in a machine coordinate system con-
trolled by SVB-01 Modules.
1 = 1 reference unit (when specified as pulse units: 1 = 1 pulse)
Note: The parameter value is not refreshed during machine lock.
11 to
15
Not used. IL††0A to
IW††0E − −
16 Out of Range
Parameter
Number
(ERNO) IW††0F • Motion
setting
parameter
1 to 64
• Motion fixed
parameter
101 to 148
Indicates the most recent setting parameter number that exceeded the
range in OW††00 to OW††3F motion setting parameter or motion
fixed parameter settings.
• Motion setting parameters: 1 to 64
• Motion fixed parameters: 101 to 148
17 to
20
Not used. IW††10 to
IW††13 − −
21 Motion
Command
Response
Code (MCMD-
RCODE) IW††14 0 to 65535 Indicates the OW††20: Motion Command Code that is currently
executing. Refer to OW††20 for details on motion commands.
22 Motion
Command
Status
(MCMDSTS) IW††15 Monitors the executing status of an OW††20: Motion Command Code. The bit configu-
ration is described below.
Bit 0 Command
Executing Flag
(BUSY) Indicates the motion command status. This bit is used for abort status.
0: READY (completed)
1: BUSY (processing)
Bit 1 Command Hold
Completed Flag
(HOLDL) Turns ON when a HOLD is completed. Refer to individual motion
functions for details on the HOLD function.
Bit 2 Distribution
Completed
(DEN) Turns ON when the amount of movement cleared is completed.
Bit 3 Zero Point Set-
ting Completed
(ZSET) Turns ON when the zero point setting (ZSET) has been executed by
OW††20: Motion Command Code. It also turns ON when bit 3 of
IW††17: ABS System Infinite Length Position Control Data Load
Request has finished execution.
Table 6.4 Motion Monitoring Parameters (cont’d)
No. Name Register
Number
Setting Range/
Bit Name
Description