Yaskawa MP920 Motion Module - Manual (Page 226)

5 SVA Module Specifications and Handling
5.4.3 Motion Monitoring Parameters
5-84
1 RUN Status
(RUNSTS)
(ccont’d) Bit 7 Motion Control-
ler RUN Ready
(SVCRDY) Turns ON when RUN preparations for the Motion Module have been
completed. The following may be reason why RUN preparations are
not completed.
• Major damage has occurred.
• Axis that is not used was selected (motion fixed parameter setting).
• Motion fixed parameter setting error.
• Cumulative no. of rotations received error.
• Motion fixed parameters are being changed.
• Absolute position is being read from the absolute encoder.
Bit 8 Motion Control-
ler RUN
(SVCRUN) Turns ON under the following conditions.
• IB††07: RUN Ready turns ON.
• Any of OB††000 to OB††004: Control Mode Flags turns ON.
• OB††01: Servo ON turns ON.
If an alarm is generated even though this bit is ON in Position Control
Mode when an OW††20: Motion Command Code is used, the axis
will not move even if a motion command is issued.
Clear the alarm, set the motion command to “NOP” for 1 scan or
more, and then set the motion command again.
Bit 9 Rotation Direc-
tion when Using
Absolute
Encoder
(DIRINV) Monitors the rotation direction selected for motion fixed parameters.
Rotation direction when using an absolute encoder
0: Forward
1: Reverse
Bit 10 Absolute Posi-
tion Read Com-
pleted Signal
(ABSRDC) Turns ON when bit 10 of OW††00: Absolute Position Read Request
turns ON and absolute position data from the absolute encoder is read.
If an error occurs, bit 4 of IW††00: Cumulative Number of Rota-
tions Received error will turn ON.
Bit 11 DI Latch Com-
pleted Signal
(DIINT) Turns ON when bit 13 of OW††00: DI Latch Request turns ON and
the DI latch signal is input. The current position at this time will be
indicated at IL††06: Latch Position in Coordinate System.
Bit 12 Feedback Pulse
0 (FBP0) Indicates that there is no feedback pulse and is normally ON if the
Servomotor is not operating.
If this bit remains ON even though a reference is output, the feedback
signal line from PG is very likely broken.
Bit 13 Positioning
Completed
Signal
(POSCOMP) Turns ON when positioning is completed in Position Control Mode.
• Motion Commands Not Used
This bit turns ON when |IL††08: Current Position − OL††12:
Position Reference| ≤ OW††0E: Positioning Completed Range.
• Motion Command Used
This bit turns ON when bit 2 of IW††15: Distribution Completed
turns ON and when |IL††08: Current Position
− OL††18: Refer-
ence Position in Machine System| ≤ OW††0E: Positioning Com-
pleted Range.
Bit 14 Not used. −
Bit 15 Zero Point
Return Com-
pleted Signal
(ZRNC) Turns ON when a return to zero point is completed in Zero Point
Return Mode as follows: |IL††08: Current Position
− Zero Point
Position| ≤ OW††0E: Positioning Completed Range
Table 5.7 Motion Monitoring Parameters (cont’d)
No. Name Register
Number
Setting Range/
Bit Name
Description