Yaskawa MP2200 Machine Controller User Manual
Page 283

5.2 Motion Command Details
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[ b ] Monitoring Parameters
Parameter
Name
Monitor Contents
IB001
Servo ON
Indicates the Servo ON status.
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
IL02
Warning
Stores the most current warning.
IL04
Alarm
Stores the most current alarm.
IW08
Servo Command
Type Response
Indicates the motion command that is being executed.
The response code will be 3 during ZRET command execution.
IB090
Command Executing
Turns ON during zero point return operation. Turns OFF when ZRET command
execution has been completed.
IB091
Command Hold
Completed
Always OFF for ZRET command.
IB093
Command Error End
Turns ON if an error occurs during ZRET command execution. The axis will decelerate
to a stop if it is moving. Turns OFF when another command is executed.
IB098
Command Execution
Completed
Turns ON when ZRET command execution has been completed.
IB0C0
Distribution
Completed
Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of a move command.
IB0C3
Position Proximity
The operation depends on the setting of the Positioning Completed Width 2 (setting
parameter OL20).
OL20 = 0: Turns ON when pulse distribution has been completed (DEN = ON).
OL20
≠0: Turns ON when MPOS - APOS< Position Proximity Setting even if
pulse distribution has not been completed.
OFF in all other cases.
IB0C4
Zero Point Position
Turns ON if the current position after the zero point return operation has been
completed is within the Zero Point Position Output Wide from the zero point position.
Turns OFF is the current position is not within this width.
IB0C5
Zero Point Return
Completed
Turns ON when the zero point return has been completed.