A-45 – Yaskawa MP2300S Basic Module User Manual

Page 367

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Appendix E Motion Parameter Details

E.3 Monitoring Parameter List

A-45

Appendices

IL††20

Speed Reference
Output Monitor

pulse/s

Yes

IL††22 to

IL††2A

Reserved

IW††2C

Servo Driver Status

Bit 0: Alarm (ALM)
Bit 1: Warning (WARNG)
Bit 2: Command Ready (CMDRDY)
Bit 3: Servo ON (SVON)
Bit 4: Main Power Supply ON (PON)
Bit 5: Machine Lock (MLOCK)
Bit 6: Zero Position (ZPOINT)
Bit 7: Locating Completed (Positioning Completed)(PSET)
Bit 8: Command Profile Complete (Distribution Completed) (DEN)
Bit 9: Torque Restriction (T_LIM)
Bit A: Latch Complete (L_CMP)
Bit B: Locating Neighborhood (NEAR Position) (NEAR)
Bit C: Positive Software Limit (P_SOT)
Bit D: Negative Software Limit (N_SOT)

Yes

Bits E to F: Reserved

IW††2D

Servo Driver Alarm
Code

Stores the alarm code from the SERVOPACK.

Yes

IW††2E

Servo Driver I/O Moni-
tor

Bit 0: Forward Side Limit Switch Input
Bit 1: Reverse Side Limit Switch Input
Bit 2: Deceleration Dog Switch Input
Bit 3: Encoder Phase-A Signal Input
Bit 4: Encoder Phase-B Signal Input
Bit 5: Encoder Phase-C Signal Input
Bit 6: EXT1 Signal Input
Bit 7: EXT2 Signal Input
Bit 8: EXT3 Signal Input
Bit 9: Brake State Output
Bit A*: Stop Signal (HWBB)
Bit B: Reserved
Bit C: CN1 Input Signal (IO12)
Bit D: CN1 Input Signal (IO13)
Bit E: CN1 Input Signal (IO14)
Bit F: CN1 Input Signal (IO15)

Yes

IW††2F

Servo Driver User
Monitor Information

Bits 0 to 3: Monitor 1
Bits 4 to 7: Monitor 2
Bits 8 to B: Monitor 3
Bits C to F: Monitor 4

Yes

IL††30

Servo Driver User
Monitor 2

Stores the result of the selected monitor.

Yes

IL††32

Servo Driver User
Monitor 3

Reserved

IL††34

Servo Driver User
Monitor 4

Stores the result of the selected monitor.

Yes

IW††36

Servo Driver User
Constant No.
(SERVOPACK Pa-
rameter No. for
MECHATROLINK
Command Area)

Stores the number of the parameter being processed.

Yes

IW††37

Supplementary Servo
Driver User Constant
No. (SERVOPACK
Parameter No. for
MECHATROLINK
Subcommand Area)

Stores the number of the parameter being processed.

Yes

(cont’d)

Register No.

Name

Contents

SVB

SVR

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