Yaskawa MP940 Reference Manual - Manual (Page 246)

Parameter Details MotionSuite™ MP940 Machine Controller Reference Manual
6-46
Number 2 - Servo Amplifier Status (SYSTS)
IWC001 Messages servo amplifier status data. This status data is not used in internal motion module
control. Control with a user program, when needed. The bit structure is shown below:
Bit 0 ALM Servo Alarm
Bit 1 WARN Warning
Bit 2 V-CMP Speed Coincidence
Bit 3 TGON Motor Rotation Detection
Bit 4 S-RDY Servo Ready
Bit 5 CLT Torque Limit Detection
Bit 6 VLT Speed Limit Detection
Bit 7 BK Brake Interlock
Bit 8 SVON Servo ON Completion
Bit 9 PON Main Circuit Completion
Bit 10~15 — Unused
Other Monitor Parameters
Number Name
Register
Number
Bit Name Content
3 Target Position ILC002
-2
31
~ 2
31-1 Messages the calculated machine coordinate
position managed by the MP940.
The position data messaged to this register is the
target position at each scan.
5 Incremental Target
Position ILC004
-2
31
~ 2
31-1 Messages the feed amount at each scan.
8 Machine Coordi-
nate Latch Posi-
tion (LPOS) ILC006
-2
31
~ 2
31-1 Messages the current latch position the moment
the DI latch signal is ON.
9 Machine Coordi-
nate Feedback
Position ILC008
-2
31
~ 2
31-1 Messages the current position monitor value.
(note: Enabled during A Drawing execution.
Enabled from H Drawing or L Drawing execution.
11 Position Error ILC00A
-2
31
~ 2
31-1 Messages the position deviation (accumulation
pulse).
(Position Deviation = Target Position - Current
Position at each scan)
Enabled in the zero-point return mode, position
control mode, and phase control mode.
13 Speed Reference
Output IWC00C -32768 ~
32767 Messages the value output by the servo amplifier
as the speed reference output.