Yaskawa MP2200 Machine Controller - Manual (Page 292)

5 Motion Commands
5.2.5 Latch (LATCH)
5-62
[ b ] Monitoring Parameters
Parameter Name Monitor Contents
IB††001 Servo ON
Indicates the Servo ON status.
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
IL††02 Warning Stores the most current warning.
IL††04 Alarm Stores the most current alarm.
IW††08
Servo Command
Type Response Indicates any alarms that have occurred during execution.
The response code is 6 during LATCH operation.
IB††090 Command Executing Always OFF for LATCH operation.
IB††091
Command Hold
Completed
Always OFF for LATCH operation.
IB††093 Command Error End
Turns ON if an error occurs during LATCH operation. The axis will decelerate to a stop
if it is moving. Turns OFF when another command is executed.
IB††098
Command Execution
Completed
Always OFF for LATCH operation.
IB††0C0
Distribution
Completed Turns ON when distribution has been completed for the move command.
Turns OFF during execution of a move command.
IB††0C1
Positioning
Completed Turns ON when distribution has been completed and the current position is within the
Positioning Completed Width. OFF in all other cases.
IB††0C2 Latch Completed
This bit turns OFF when a new latch command is executed and turns ON when the latch
has been completed. The latched position is stored as the Machine Coordinate Latch
Position (monitoring parameter IL††18).
IB††0C3 Position Proximity
The operation depends on the setting of the Positioning Completed Width 2 (setting
parameter OL††20).
OL††20 = 0: Turns ON when pulse distribution has been completed (DEN = ON).
OL††20
≠0: Turns ON when MPOS - APOS < Position Proximity Setting even if
pulse distribution has not been completed.
OFF in all other cases.
IL††18
Machine Coordinate
Latch Position Stores the current position in the machine coordinate system when the latch signal
turned ON.