5 ) timing charts – Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module User Manual
Page 244
6.2 Motion Command Details
6.2.22 Speed Reference (VELO)
6-83
Motion Commands
[ 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 23 during VELO command execution.
IW
09
Bit 0
Command Execution
Flag
Turns ON when abort processing is being performed for VELO command. Turns
OFF when abort processing has been completed.
IW
09
Bit 1
Command Hold
Completed
Always OFF for VELO command.
IW
09
Bit 3
Command Error
Completed Status
Turns ON if an error occurs during VELO command execution.
The axis will decelerate to a stop if it is operating. Turns OFF when another com-
mand is executed.
IW
09
Bit 8
Command Execution
Completed
Always OFF for VELO 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 of this bit depends on the setting of NEAR Signal Output Width (set-
ting 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 Output Width, even if pulse distribution has not been com-
pleted.
OFF in all other cases.
R
R
R
R
R
R
R
R
R
R
R
OW
08 = 23 (VELO)
IW
08 = 23 (VELO)
IW
09, bit 0 (BUSY)
IW
09, bit 8 (COMPLETE)
IW
09, bit 3 (FAIL)
IW
0C, bit 0 (DEN)
1 scan