5 ) timing charts – Yaskawa MP2200 Machine Controller User Manual
Page 300

5 Motion Commands
5.2.7 STEP Operation (STEP)
5-70
[ b ] Monitoring Parameters
( 5 ) Timing Charts
[ a ] Normal Execution
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 is 8 during STEP command execution.
IB090
Command Executing
The Command Executing bit will turn ON during STEP command execution and then
turn OFF when STEP command execution has been completed.
IB091
Command Hold
Completed
Turns ON when a deceleration to a stop has been completed as the result of setting the
Command Pause (OB090) bit to 1 during STEP command execution.
IB093
Command Error End
Turns ON if an error occurs during STEP 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 STEP 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.
IB0C1
Positioning
Completed
Turns ON when pulse distribution has been completed and the current position is
within the Positioning Completed Width. OFF in all other cases.
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.
OW
08 = 8 (STEP)
IW
08 = 8 (STEP)
IB
090 (BUSY)
Undefined length of time
IB
098 (COMPLETE)
IB
093 (FAIL)
IB
0C0 (DEN)
IB
0C1 (POSCOMP)
1 scan