Yaskawa MP920 Motion Module - Manual (Page 141)

4.2 Parameter List by Module
4-21
4
35 Alarms
(ALARM)
(cont’d) IL††22 Bit 11:
ZSET_NRDY Zero Point Not Set √ √ √ −
Bit 12:
ZSET_MOV Zero Point Set during Travel − − √ −
Bit 13: CN_ERR Servo Driver Cn Constant Setting Error − − √ −
Bit 14: WDT_ERR Servo Driver Synchronous Communications
Error
− − √ −
Bit 15: COM_ERR Servo Driver Communications Error − − √ −
Bit 16:
SVTIMOUT Servo Driver Command Timeout − − √ −
Bit 17: ABSOVER ABS Encoder Rotations Exceeded √ √ √ −
Bit 18: PGLFLT Broken PG Wire Error √ √ − −
Bits 19 to 31 Not used. − − − −
37 Servo Driver
Alarm Code
(SVALARM) IW††24 -32768 to 32767 Error code when an absolute position read error
occurs √ √ − −
Current alarm code − − √ −
38 Servo Driver I/O
Monitor
(ALARM) IW††25 Bit 0: P-OT Forward Limit Switch Input − − √ −
Bit 1: N-OT Reverse Limit Switch Input − − √ −
Bit 2: DEC Deceleration Dog Switch Input − − √ −
Bit 3: PA Encoder Phase-A Signal Input − − √ −
Bit 4: PB Encoder Phase-B Signal Input − − √ −
Bit 5: PC Encoder Phase-C Signal Input − − √ −
Bit 6: EXT1 No. 1 External Latch Signal Input − − √ −
Bit 7: EXT2 No. 2 External Latch Signal Input − − √ −
Bit 8: EXT3 No. 3 External Latch Signal Input − − √ −
Bit 9: BRK Brake Status Output − − √ −
Bits 10 to 15 Not used. − − − −
39 Speed Refer-
ence Output
Monitor
(RVMON) IL††26
-2 31 to 2 31 -1
This parameter is valid when Speed Reference
Value Selection (OB††01 bit 13) is set to 1.
1 = 1 reference unit/s − − √ −
This parameter is valid when Speed Reference
Value Selection (OB††01 bit 13) is set to 1.
1 = 1 reference unit/H scan √ √ − √
41 Cn Constant
Read Data
(CNMON) IL††28
-2 31 to 2 31 -1
Stores the SERVOPACK Cn constant data spec-
ified in OW††35 when Motion Command
Code (OW††20) is set to 17. − − √ −
Position Buffer
Read Data
(CNMON) Copies position buffer data when Motion Com-
mand Control Flag BUF_R (OB††21 bit 15)
is set to 1. √ √ − √
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