Yaskawa MP940 Reference Manual - Manual (Page 517)

MotionSuite™ MP940 Machine Controller Reference Manual Parameters
A-30
35 Servo Alarms ILC022 Bit 0: SVERROR Servo amplifier error
Bit 1: OTF Positive overtravel
Bit 2: OTR Negative overtravel
Bit 3: SOTF Positive soft limit
Bit 4: SOTR Negative soft limit
Bit 5: —
Bit 6: TIMEOVER Positioning time-out
Bit 7: DISTOVER Excessive positioning distance
Bit 8: —
Bit 9: —
Bit 10: MODERR Control mode error
Bit 11:
ZSET_NRDY Zero-point not set
35 Servo Alarms ILC022 Bit 12: —
Bit 13: —
Bit 14: —
Bit 15: —
Bit 16: —
Bit 17: ABSOVER Excessive absolute encoder rotation
Bit 18: PGLFLT Encoder disconnection error
Bit 19: Unused
Bits 20~31 Unused
37 Network Servo Alarm
Code IWC024 -32768~32767 Currently occurring alarm code
38 Network Servo I/O
Monitor IWC025 Bit 0: SIO General-use input signal
Bit 1: DEC Deceleration dogleg switch
Bit 2: P-OT Forward limit switch input
Bit 3: N-OT Reverse limit switch input
Bit 4: EXT1 External input signal 1
Bit 5: EXT2 External input signal 2
Bit 6: EXT3 External input signal 3
Bits 7~15: Unused
39 Speed Reference
Output Value ILC026
-2
31
~2
31-1 Enabled when speed reference selection
1 = 1 Command unit/H scan
41 Position Buffer Data ILC028
-2
31
~2
31-1 Copies the position buffer data when the
motion command control flag BUF_R
(OBC021F) =1.
43 Unused — — —
Table 9: Monitor Parameters (Continued)
No. Name
Register
Number
Bit Name
(Setting Range)
Meaning Note