Yaskawa MP920 Motion Module - Manual (Page 275)

6 SVB Module Specifications and Handling
6.2.3 Motion Monitoring Parameters
6-40
22 Motion
Command
Status
(MCMDSTS)
(cont’d) Bit 4 External Posi-
tioning Signal
Latched
(EX_LATCH) Turns ON when an external positioning signal is input during external
positioning (EX_POSING) or interpolation with position detection
functions (LATCH).
Bit 5 Command Error
End (FAIL) Turns ON if an alarm occurs while a move (positioning, fixed speed
feed, etc.) command is being executed.
Operation cannot be continued once this bit turns ON. Set Motion
Command Code (OW††20) to “NOP” for at least one scan. The
SVA Modules LED indicates (
) when this bit turns ON.
Bit 6 Zero Point
Return Com-
pleted (ZRNC) Turns ON when zero point return or zero point setting has been com-
pleted. Turns OFF when zero point return begins.
Bits 7 to 15 Not used. −
23 Number of Dig-
its Below Deci-
mal Monitor
(DECNUMM) IW††16 0 to 5 Indicates motion fixed parameter number 18: Number of Digits Below
Decimal Point.
24 Position
Control Status
(POSSTS) IW††17 Monitors status related to position controlled by SVB Modules. It is valid in Position Con-
trol Mode when an OW††20: Motion Command Code is used. The bit configuration is
described below.
Bit 0 Machine Lock
ON (MLKL) Turns ON when machine lock is ON. When this bit is ON, the con-
trolled axis is locked and remains stopped.
Bit 1 Zero Point
Position (ZERO) Turns ON when zero point return (IB††156) has been completed
and when 0
≤ |IL††18: Reference Position in Machine Coordinate
System| ≤ OW††33: Zero Point Position Output Width.
Bit 2 Second In-posi-
tion Completed
(PSET2) Turns ON when Distribution Completed (IW††15 bit 2) is ON and
when |IL††08: Current Position
− IL††18: Reference Position in
the Coordinate System| ≤ OW††32: Second In-position Width.
Bit 3 ABS System
Infinite Length
Position Control
Data Load
Completed
(ABSLDE) Turns ON when OB††2D2: ABS System Infinite Length Position
Control Data Load Request turns ON and the load has been com-
pleted. It turns OFF when OB††2D2: ABS System Infinite Length
Position Control Data Load Request turns OFF.
It is valid when infinite length axis is set with an absolute encoder.
Bit 4 Preset Request
for Number of
POSMAX Turns
Completed
(TPRSE) Turns ON when OB††2D1: Request for Preset Number of POS-
MAX Turns is ON and presetting has been completed. It turns OFF
when OB††2D1: Request for Preset Number of POSMAX Turns
goes OFF.
It is valid when infinite length axis is set.
Bit 5 Electronic Gear
Enabled Selec-
tion (GEARM) Indicates the electronic gear enabled selection at bit 4 of motion fixed
parameter No. 17.
Bit 6 Axis Selection
(MODSELM) Indicates the axis selection at bit 5 of motion fixed parameter No. 17.
Bits 7 to 11 Not used. −
Table 6.4 Motion Monitoring Parameters (cont’d)
No. Name Register
Number
Setting Range/
Bit Name
Description