Yaskawa MP2200 Machine Controller - Manual (Page 336)

5 Motion Commands
5.2.23 Torque Reference (TRQ)
5-106
[ 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 will be 24 during TRQ command execution.
IB††090 Command Executing
Turns ON when abort processing is being performed for TRQ command. Turns OFF
when abort processing has been completed.
IB††091
Command Hold
Completed
Always OFF for TRQ command.
IB††093 Command Error End
Turns ON if an error occurs during TRQ command execution. The axis will decelerate
to a stop if it is operating. Turns OFF when another command is executed.
IB††098
Command Execution
Completed
Always OFF for TRQ command.
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 range. OFF in all other cases.
IB††0C3 Position Proximity
The operation of this bit depends on the setting of 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 the absolute value of the difference between the
Machine Coordinate Feedback Position (monitoring parameter IL††16) and the
Machine Coordinate System Position (monitoring parameter IL††12) is less than
the Position Completed Width 2, even if pulse distribution has not been completed.
OFF in all other cases.
OW 08 = 24 (TRQ)
IW 08 = 24 (TRQ)
IB 090 (BUSY)
IB 098 (COMPLETE)
IB 093 (FAIL)
IB 0C0 (DEN)
1 scan