Yaskawa JAPMC-MC2300 - Manual (Page 146)

7.2 Motion Command Details
7.2.1 Positioning (POSING)
7-6
[ b ] Monitoring Parameters
( 5 ) Timing Charts
[ a ] Normal Execution
Parameter Name Monitor Contents
IW 00
Bit 1
Running
(At Servo ON) Indicates the Servo ON status.
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
IL 02 Warning Stores the most current warning.
IL 04 Alarm Stores the most current alarm.
IW 08
Motion Command
Response Code Indicates the motion command that is being executed.
The response code is 1 during POSING command execution.
IW 09
Bit 0
Command
Execution Flag Turns ON when abort processing is being performed for POSING command.
Turns OFF when abort processing has been completed.
IW 09
Bit1
Command Hold
Completed Turns ON when a deceleration to a stop has been completed as the result of setting the Holds
A Command bit (OW
09, bit 0) to 1 during POSING command execution.
IW 09
Bit 3
Command Error
Completed Status
Turns ON if an error occurs during POSING command execution.
The axis will decelerate to a stop if it is moving. Turns OFF when another command is exe-
cuted.
IW 09
Bit 8
Command
Execution
Completed Always OFF for POSING command.
Use the Positioning Completed bit (IW
0C, bit 1) to confirm completion of this com-
mand.
IW 0C
Bit 0
Discharging
Completed Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of the move command.
IW 0C
Bit 1
Positioning
Completed Turns ON when pulse distribution has been completed and the current position is within the
Width of Positioning Completion. OFF in all other cases.
IW 0C
Bit 3
NEAR Position
The operation depends on the setting of the NEAR Signal Output Width (setting parameter
OL
20).
OL 20 = 0:Turns ON when pulse distribution has been completed (DEN = ON). Other-
wise, it turns OFF.
OL 20 ≠ 0:Turns ON when the absolute value of the difference between MPOS
(IL 12) and APOS (IL 16) is less than the NEAR Position Setting
even if pulse distribution has not been completed.
OFF in all other cases.
OW††08 = 1 (POSING)
IW††08 = 1 (POSING)
IW††09, bit 0 (BUSY)
Undefined length of time
IW††09, bit 8 (COMPLETE)
IW††09, bit 3 (FAIL)
IW††0C, bit 0 (DEN)
IW††0C, bit 1 (POSCOMP)
1 scan