Yaskawa MP920 Motion Module User Manual
Page 352
7 PO-01 Module Specification and Handling
7.3.3 Motion Monitoring Parameters
7-50
2
General-pur-
pose DI Monitor
(SVSTS)
IW01
Monitors the status of input signals, special-purpose DI signals, or general-purpose DI
signals from the Pulse Motor Driver.
DI00 to DI03 can be used as special-purpose signals for zero point return. DI04 is a
special-purpose signal for emergency stop or deceleration stop.
DI01 to DI03 can also be used as general-purpose DI. The bit configuration is described
below.
Bit 0
Zero Point Sig-
nal or General-
purpose DI
(HW_ZRRO/
DI0)
Indicates input 0 signal status. Input 0 serves as a zero point signal
for zero point return. It can be used as general-purpose DI except for
zero point return.
Bit 1
Limit Switch
Signal or Gen-
eral-purpose DI
(DEC/DI1)
Indicates input 1 signal status. Input 1 can be used as either a reverse
limit signal for zero point return or a general-purpose DI according
to the setting of bit 2 (Limit Switch Signal Selection) of motion fixed
parameter No. 14 (Additional Function Selections).
For details, refer to 7.3.1 Motion Fixed Parameters.
Bit 2
Reverse Limit
Signal for Zero
Point Return or
General-
purpose DI
(LMT_L/DI2)
Indicates input 2 signal status. Input 2 can be used as either a zero
point return limit signal for reverse rotation or a general-purpose DI
according to the setting of bit 3 (Reverse Limit Signal Selection for
Zero Point Return) of motion fixed parameter No. 14 (Additional
Function Selections).
For details, refer to 7.3.1 Motion Fixed Parameters.
Bit 3
Forward Limit
Signal for Zero
Point Return or
General-
purpose DI
(LMT_R/DI3)
Indicates input 3 signal status. Input 3 can be used as either a for-
ward limit signal for zero point return or a general-purpose DI
according to the setting of bit 4 (Forward Limit Signal Selection for
Zero Point Return) of motion fixed parameter No. 14 (Additional
Function Selections).
For details, refer to 7.3.1 Motion Fixed Parameters.
Bit 4
Emergency Stop
Signal or Decel-
eration Stop
Signal
(EMRGNCY/
DI4)
Indicates input 4 signal status. Input 4 indicates the status of latched
signal rather than actual signal. When Input 4 is input, the signal is
first latched, and then this bit is set to 1 until the Excitation ON Sig-
nal (OB010) turns OFF and EMRST (OB01B) turns OFF.
While this bit is set to 1, operation cannot be continued.
The PO-01 Module LEDs will indicate (
) (first axis), (
) (sec-
ond axis), (
) (third axis) and (
)(fourth axis) if this bit is ON.
Bits 5 to 15 Not used.
−
3
Calculated Posi-
tion in Machine
Coordinate
System (CPOS)
IL02
-2
31
to 2
31
-1
Indicates the calculated position in a machine coordinate system
controlled by PO-01 Modules.
Normally the position data indicated at this register is the target posi-
tion for each scan.
5
Target Position
Difference Moni-
tor (PTGDIF)
IL04
-2
31
to 2
31
-1
Indicates the amount cleared every scan.
7 to
15
Not used.
IW06 to
IW0E
−
−
Table 7.11 Motion Monitoring Parameters (cont’d)
No. Name
Register
No.
Setting
Range/
Bit Name
Description