Yaskawa MP920 Motion Module - Manual (Page 140)

4 Parameters
4.2.3 Motion Monitoring Parameters
4-20
24 Position Control
Status
(POSSTS) IW††17 Bit 0: MLKL Machine Locked √ √ √ √
Bit 1: ZERO Zero Point Position √ √ √ √
Bit 2: PSET2 Second In-position Completed √ √ √ √
Bit 3: ABSLDE ABS System Infinite Length Position Control
Data Load Completed √ √ √ −
Bit 4: TPRSE Preset no. of POSMAX Turns Completed √ √ √ √
Bit 5: GEARM Copies Motion Fixed Parameter “Electronic
Gear Enabled Selection.” √ √ √ √
Bit 6: MODSELM Copies motion fixed parameter “Axis Selec-
tion.” √ √ √ √
Bits 7 to 11 Not used. − − − −
Bits 12 to 15:
USRMONSELR Servo Driver User Monitor Information
Selection Response − − √ −
25 Machine Coor-
dinate System
Reference Posi-
tion (MPOS) IL††18
-2 31 to 2 31 -1
1 = 1 pulse for pulse unit
Will not be updated if the machine is locked. √ √ √ √
27 Not used. IL††1A − − − − − −
29 POSMAX
Monitor
(PMAXMON) IL††1C
1 to 2 31 -1
1 = 1 reference unit
Copies motion fixed parameter “POSMAX.” √ √ √ √
31 Number of POS-
MAX Turns
(PMAXTURN) IL††1E
-2 31 to 2 31 -1
1 = 1 rotation
Raises or lowers the count each time POSMAX
is exceeded.
(Initializes to 0 at startup.) √ √ √ √
33 Servo Driver
User Monitor
Information
(USRMON) IL††20
-2 31 to 2 31 -1
Refer to the relevant servo drive user’s manuals. − − √ −
35 Alarms
(ALARM) IL††22 Bit 0: SVERROR SERVOPACK Error − − √ −
Bit 1: OTF Positive Overtravel √ √ √ −
Bit 2: OTR Negative Overtravel √ √ √ −
Bit 3: SOTF Positive Software Limit √ √ √ √
Bit 4: SOTR Negative Software Limit √ √ √ √
Bit 5: SVOFF Servo OFF − − √ −
Excitation OFF − − − √
Bit 6: TIMEOVER Positioning Time Over √ √ √ −
Bit 7: DISTOVER Positioning Travel Distance Over − − √ −
Overspeed − − √
Bit 8:
FILTYOERR Filter Type Change Error − − √ −
Bit 9:
FILTYMERR Filter Time Constant Change Error − − √ −
Bit 10: MODERR Control Mode Error √ √ √ √
Table 4.4 Motion Monitoring Parameters (cont’d)
No. Name Register
Number
Setting Range
(Bit Name)
Meaning Remarks SVA
-01A
SVA
-02 A
SVB
-01
PO-
01