Yaskawa MP2200 Machine Controller - 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
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