Yaskawa MP940 Reference Manual User Manual

Page 245

MotionSuite™ MP940 Machine Controller Reference Manual

Parameter Details

6-45

Bit 8

Motion
Controller
Run (SVCRUN)

This bit goes ON under the following conditions
Run Preparation Complete (IBC0007) is ON
Control Mode Flag (OBC0000~OBC0004)
Servo ON (OBC0010) is ON
In the position control mode using motion commands (OWC020), the
axis does not move when a motion command is issued during an
alarm, even when this bit is ON.
After clearing the alarm, reset the motion command after setting the
motion command do NOP from the 1st scan on.

Bit 9

Rotation Direction
Selection Messaging
During Absolute
Encoder Use
(DIRINV)<

Rotation Direction During Absolute Encoder Use
Monitors the fixed motion parameter Rotation Direction Selection.
0: Forward; 1: Reverse

Bit 10

Absolute Position
Read Completion
Signal (ABSRDC)

ON at completion of absolute position data readout from the abso-
lute encoder when the Absolute Position Readout Request (bit 10 of
OWC000) is ON. The cumulative rotation signal error (bit 4 of
IWC000) is ON upon error occurrence.

Bit 11

DI Latch Completion
Signal (DIINT)

ON when the DI Latch Detection Request (bit 13 of OWC000) is ON
or when the DI Latch signal is input. Messages the current position
to the Machine Coordinate Latch Position (ILC006).

Bit 12

Feedback Pulse 0
(FBP0)

Displays when there is no feedback pulse.This is always ON when
the motor is not rotating. The feedback signal line from the encoder
may be cut off if this bit is ON even though a command is output.

Bit 13

Positioning Comple-
tion Signal
(POSCOMP)

ON when positioning is completed in the position control mode.
When no motion commands are used
: ON when the Current Value (ILC008) - Position Reference
(OLC012) Positioning Completion Range (OWC00E)
When motion commands are used
: ON when Feed Completion (bit 2 of IWC015) is ON, or when Cur-
rent Value (ILC008) - Machine Coordinate Command Position
(ILC018) Positioning Completion Range (OWC00E)

Bit 14

Unused

—

Bit 15

Zero-point Return
Signal (ZRNC)

ON at completion of zero-point return in the zero-point return mode.
ON when Current Value (ILC008) - Zero-point Position ÅÖ Position-
ing Completion Range (OWC00E).

Number 1 - Run Status (RUNSTS) (Continued)

Number

Bit Name

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