A-44 – Yaskawa MP2300S Basic Module User Manual

Page 366

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Appendix E Motion Parameter Details

E.3 Monitoring Parameter List

A-44

IW††09

Motion Command
Status

Bit 0: Command Execution Flag

Yes

Yes

Bit 1: Command Hold Completed

Yes

Yes

Bit 2: Reserved

Bit 3: Command Error Completed Status

(Command Error Occurrence)

Yes

Yes

Bits 4 to 6: Reserved

Bit 7: Reset Absolute Encoder Completed

Yes

Bit 8: Command Execution Completed

Yes

Yes

Bits 9 to F: Reserved

IW††0A

Subcommand Re-
sponse Code

Same as OW††0A (Motion Subcommand).

Yes

Yes

IW††0B

Subcommand Status

Bit 0: Command Execution Flag

Yes

Yes

Bits 1, 2: Reserved

Bit 3: Command Error Completed Status

(Command Error Occurrence)

Yes

Yes

Bits 4 to 7: Reserved

Bit 8: Command Execution Completed

Yes

Yes

Bits 9 to F: Reserved

IW††0C

Position Management
Status

Bit 0: Distribution Completed

Yes

Yes

Bit 1: Positioning Completed

Yes

Yes

Bit 2: Latch Completed

Yes

Bit 3: NEAR Position

Yes

Yes

Bit 4: Zero Point Position

Yes

Yes

Bit 5: Zero Point Return (Setting) Completed

Yes

Yes

Bit 6: During Machine Lock

Yes

Bit 7: Reserved

Bit 8: ABS Rotary Pos. Load Complete (ABS System Infinite Length

Position Control Information Load Completed)

• Invalid for linear type.

Yes

Bit 9: POSMAX Turn Preset Complete (TPRSE)

• Invalid for linear type.

Yes

Yes

Bits A to F: Reserved

IW††0D

Reserved

IL††0E

Target Position in
Machine Coordinate
System (TPOS)

1 = 1 reference unit

Yes

Yes

IL††10

Calculated Position in
Machine Coordinate
system (CPOS)

1 = 1 reference unit

Yes

Yes

IL††12

Machine Coordinate
System Reference
Position (MPOS)

1 = 1 reference unit

Yes

Yes

IL††14

CPOS for 32 bit

1 = 1 reference unit

Yes

Yes

IL††16

Machine Coordinate
System Feedback
Position (APOS)

1 = 1 reference unit

Yes

Yes

IL††18

Machine Coordinate
System Latch Position
(LPOS)

1 = 1 reference unit

Yes

IL††1A

Position Error (PERR) 1 = 1 reference unit

Yes

IL††1C

Target Position
Difference Monitor

1 = 1 reference unit

Yes

IL††1E

Number of POSMAX
Turns

1 = 1 turn

• Invalid for linear type.

Yes

Yes

(cont’d)

Register No.

Name

Contents

SVB

SVR

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