Yaskawa MP2200 Machine Controller - Manual (Page 134)

4 Motion Parameters
4.2.3 Monitoring Parameter List
4-14
IW††09 Motion Command Status
Bit 0: Command Executing (BUSY) Flag Yes Yes Yes
Bit 1: Command Hold Completed (HOLDL) Yes Yes Yes
Bit 2: Reserved
Bit 3: Command Error Occurrence (FAIL)
Yes Yes Yes
Bits 4 to 7: Reserved
Bit 8: Command Execution Completed (COMPLETE)
Yes Yes Yes
Bits 9 to F: Reserved
IW††0A
Motion Subcommand
Response Code
Same as OW††0A (Motion Subcommand). Yes Yes Yes
IW††0B Motion Subcommand Status
Bit 0: Command Executing (BUSY) Flag Yes Yes Yes
Bits 1 and 2: Reserved
Bit 3: Command Error Occurrence (FAIL)
Yes Yes Yes
Bits 4 to 7: Reserved
Bit 8: Command Execution Completed (COMPLETE)
Yes Yes Yes
Bits 9 to F: Reserved
IW††0C Position Management Status
Bit 0: Distribution Completed (DEN) Yes Yes Yes
Bit 1: Positioning Completed (POSCOMP) Yes Yes Yes
Bit 2: Latch Completed (LCOMP) Yes Yes
Bit 3: Position Proximity (NEAR) Yes Yes Yes
Bit 4: Zero Point Position (ZERO) Yes Yes Yes
Bit 5: Zero Point Return (Setting) Completed (ZRNC) Yes Yes Yes
Bit 6: Machine Lock (MLOCK) Yes Yes
Bit 7: Absolute Position Read Completed Yes
Bit 8: ABS System Infinite Length Position Control Information
LOAD Completed (ABSLDE)
Yes Yes
Bit 9: POSMAX Turn Number Presetting Completed (TPRSE) Yes Yes Yes
Bit A: Rotational Direction of Absolute Encoder Yes
Bits B to F: Reserved
IW††0D － Reserved
IL††0E
Machine Coordinate Target
Position (TPOS)
1 = 1 reference unit Yes Yes
Yes
IL††10 Target Position (CPOS) 1 = 1 reference unit Yes Yes Yes
IL††12
Machine Coordinate System
Position (MPOS)
1 = 1 reference unit Yes Yes Yes
IL††14
32-bit Coordinate System
Position (DPOS)
1 = 1 reference unit Yes Yes
IL††16
Machine Coordinate Feedback
Position (APOS)
1 = 1 reference unit Yes Yes Yes
IL††18
Machine Coordinate Latch
Position (LPOS)
1 = 1 reference unit Yes Yes
IL††1A Position Error (PERR) 1 = 1 reference unit Yes Yes
IL††1C
Target Position Difference
Monitor
1 = 1 reference unit Yes Yes Yes
IL††1E POSMAX Number of Turns 1 = 1 turn Yes Yes Yes
IL††20
Speed Reference Output
Monitor
Unit is according to OW††03, bits 0 to 3 (Speed Unit). Yes Yes
IL††22 － Reserved
IL††24 Integral Output Monitor Unit is according to OW††03, bits 0 to 3 (Speed Unit). Yes
(cont’d)
Register No. Name Description
SVB
-01
SVA
-01
SVR