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5 ) timing charts – Yaskawa MP2200 Machine Controller User Manual

Page 300

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5 Motion Commands

5.2.7 STEP Operation (STEP)

5-70

[ b ] Monitoring Parameters

( 5 ) Timing Charts

[ a ] Normal Execution

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 the motion command that is being executed.
The response code is 8 during STEP command execution.

IB††090

Command Executing

The Command Executing bit will turn ON during STEP command execution and then
turn OFF when STEP command execution has been completed.

IB††091

Command Hold
Completed

Turns ON when a deceleration to a stop has been completed as the result of setting the
Command Pause (OB††090) bit to 1 during STEP command execution.

IB††093

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.

IB††098

Command Execution
Completed

Turns ON when STEP command execution has been completed.

IB††0C0

Distribution
Completed

Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of a move command.

IB††0C1

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.

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.

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

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