Yaskawa JAPMC-MC2300 - Manual (Page 219)

7.2 Motion Command Details
7.2.10 Torque Reference (TRQ)
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7
Motion Commands
[ 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 24 during TRQ command execution.
IW 09
Bit 0
Command Execution
Flag Turns ON when abort processing is being performed for TRQ command.
Turns OFF when abort processing has been completed.
IW 09
Bit 1
Command Hold
Completed
Always OFF for TRQ command.
IW 09
Bit 3
Command Error
Completed Status
Turns ON if an error occurs during TRQ command execution.
The axis will decelerate to a stop if it is operating. Turns OFF when another command is
executed.
IW 09
Bit 8
Command Execution
Completed
Always OFF for TRQ command.
IW 0C
Bit 0
Discharging
Completed Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of a 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 bit depends on the setting of NEAR Signal Output Width (setting param-
eter OL
20).
OL 20 = 0: Turns ON when pulse distribution has been completed (DEN = ON).
Otherwise, 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 Set-
ting, even if pulse distribution has not been completed.
OFF in all other cases.
OW 08 = 24 (TRQ)
IW 08= 24 (TRQ)
IW 09, bit 0 (BUSY)
IW 09, bit 8 (COMPLETE)
IW 09, bit 3 (FAIL)
IW 0C, bit 0 (DEN)
1 scan
Torque control mode Position control mode
Speed control
mode