5 ) timing charts – Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module User Manual
Page 169
6.2 Motion Command Details
6.2.1 Position Mode (POSING) (Positioning)
6-8
[ b ] Monitoring Parameters
( 5 ) Timing Charts
[ a ] Normal Execution
Parameter
Name
Monitor Contents
SVR
IW
00
Bit 1
Running (At Servo
ON)
Indicates the Servo ON status.
1: Power supplied to Servomotor, 0: 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 will be 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 (OW
09, bit 0) bit 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
executed.
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
command.
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).
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 Signal Out-
put Width even if pulse distribution has not been completed.
OFF in all other cases.
R
R
R
R
R
R
R
R
R
R
R
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