Yaskawa MP920 Motion Module - Manual (Page 277)

6 SVB Module Specifications and Handling
6.2.3 Motion Monitoring Parameters
6-42
35 Alarm
(ALARM)
(cont’d) Bit 4 Negative
Software Limit
(SOTR) Valid if IB††156: Zero Point Return Completed turns ON when the
negative software limit is enabled and an infinite length axis is
selected.
„ OW††20: Motion Command Code Interpolation
This bit turns ON when IL††18: Reference Position in Machine
Coordinate System + OL††26: Stopping Distance
≤ Negative
Software Limit (motion fixed parameter No. 29).
„ OW††20: Motion Command Codes Positioning, Feed, or Step
This bit turns ON when IL††18: Reference Position in Machine
Coordinate System
≤ Negative Software Limit (motion fixed
parameter No. 29).
Bit 5 Servo OFF
(SVOFF) Turns ON if Motion Command Code (OW††20) is set to a move-
ment command such as Positioning or Step when the servo is OFF
(OB††010 is set to OFF).
Bit 6 Positioning
Time Over
(TIMEOVER) Turns ON if positioning is not completed within the time specified in
OW††34 (Positioning Completed Check Time) after command dis-
tribution is completed.
Bit 7 Positioning
Travel Distance
Over
(DISTOVER) Turns ON when a move command exceeding the maximum position-
ing travel distance was executed.
Bit 8 Filter Type
Change Error
(FIRTYPERR) Turns ON if the filter type is changed before command distribution is
completed.
Bit 9 Filter Time
Constant Change
Error
(FILTIMERR) Turns ON if the filter time constant is changed before command distri-
bution is completed.
Bit 10 Control Mode
Error
(MODERR) Turns ON when a move command is set at OW††20: Motion Com-
mand Code in a mode other than Position Control Mode (OB††002
is OFF).
Bit 11 Zero Point Not
Set
(ZSET_NRDT) Turns ON if a movement command is executed before the zero point
is set.
Bit 12 Not used. −
Bit 13 Not used. −
Bit 14 Servo Driver
Synchronous
Communica-
tions Error
(WDT_NRDY) Turns ON when a MECHATROLINK servo synchronous communica-
tions error is detected.
Bit 15 Servo Driver
Communica-
tions Error
(COM_ERR) Turns ON when two consecutive MECHATROLINK servo communi-
cations errors are detected.
Bit 16 Servo Driver
Command
Timeout Error
(SVTIMOUT) Turns ON if a MECHATROLINK servo command is not completed
within the specified time.
Table 6.4 Motion Monitoring Parameters (cont’d)
No. Name Register
Number
Setting Range/
Bit Name
Description