Yaskawa MP900 Teach Pendant - Manual (Page 72)

Status Lists
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A.3 MECHATROLINK Servo Status
Table A.3. MECHATROLINK Servo Status
Name # Register Details
MECHA-
TROLINK IW jj 01 Flags indicating the execution status of the MECHATROLINK Servo.
TROLINK
Servo Status
b0: ALARM Alarm
Set to 1 when an alarm has been detected in the Servo Drive. Held until
ALM_CLR is executed.
b1: WARNG Warning
Set to 1 when a warning has been detected in the Servo Drive.
S Held until ALM_CLR is executed.
S Automatically cleared when the cause of the warning has been removed.
b2: CMDRDY Command Ready
Set to 1 when commands can be received. When a command is issued when
the Servo Controller is busy, the command will be ignored and no response
will be sent.
b3: SVON Servo ON
Set to 1 when the base block is released.
b4: PON Main Power Supply ON
Set to 1 when the main power supply to the Servo is ON.
b5: MLOCK Machine Lock
Set to 1 when the machine is locked.
b6: ZPOINT Zero Point
Set to 1 when the absolute position (APOS) is within the zero point range.
The zero point will not be detected when an incremental PG is used and the
zero point has not been set.
b7: PSET Positioning Completed
Set to 1 when CLEAR COMPLETED (DEN=1) or the absolute position
(APOS) are within the positioning completion range for the machine coordi-
nate system final target position (TPOS−Usr_ofst−Mlck_ofst).
S Set to 1 when APOS after decelerating to a stop has been completed fol-
lowing motion interruption due to the HOLD command.
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