Yaskawa MP920 User's Manual Design - Manual (Page 416)

7.2 Parameters for Each Motion Module
7-21
7
35 Alarms
(ALARM)
(cont’d)
IL 22 Bit 15: COM_ERR Servo driver communications error 9
Bit 16: SVTI-
MOUT Servo driver command timeout 9
Bit 17: ABSOVER ABS encoder rotations exceeded 9 9 9
Bit 18: PGLFLT Broken PG wire error 9 9
Bit 19: Not used
Bits 20 to 31: Not used
37 Servo Driver
Alarm Code
(SVALARM)
IW 24 −32768 to 32767 Error code when an absolute position read
error occurs 9 9
Alarm code that is occurring 9
38 Servo Driver I/O
Monitor
(ALARM)
IW 25 Bit 0: P-OT Forward limit switch input 9
Bit 1: N-OT Reverse limit switch input 9
Bit 2: DEC Deceleration dog switch input 9
Bit 3: PA Encoder phase-A signal input 9
Bit 4: PB Encoder phase-B signal input 9
Bit 5: PC Encoder phase-C signal input 9
Bit 6: EXT1 1st external (latch) signal input 9
Bit 7: EXT2 2nd external (latch) signal input 9
Bit 8: EXT3 3rd external (latch) signal input 9
Bit 9: BRK Brake status output 9
Bits 10 to 15: Not used
39 Speed Refer-
ence Output Mon-
itor
(pulse/s)
(RVMON)
IL 26 −2 31
to 2
31 −1 Valid when the Speed Reference Value
Selection (OB 01D) = 0.
1 = 1 reference unit/s 9
Valid when the Speed Reference Value
Selection (OB 01D) = 0.
1 = 1 reference unit/high-speed scan 9 9 9
41 Cn Constant
Read Data
(
CNMON)
IL 28 −2 31 to 2 31 −1 Stores the data of the SERVOPACK Cn
conatant specified by OW 35 when
the Motion Command Code (OW 20)
= 17. 9
Position Buffer
Read Data
(CNMON) Copies the position buffer data when the
Motion Command Control Flag BUF_R
(OB 21F) = 1. 9 9 9
43 Position Refer-
ence Output Mon-
itor
(XREFMON)
IL 2A −2 31 to 2 31 −1 1 = 1 pulse Absolute posi-
tion in units of
pulse 9
Number of Output
Pulses
(XREFMON) 9
45 Integral Output
Monitor
(YIMON)
IL 2C −2 31
to 2
31 −1
9 9
Table 7.4 Motion Monitoring Parameters (cont’d)
No Name
Register
No.
Bit
(Setting Range)
Meaning Remarks
SVA-
01A
SVA
-02A
SVB
-01
PO-
01