Yaskawa MP920 Motion Module - Manual (Page 353)

7.3 PO-01 Parameters
7-51
7
16 Out of Range
Parameter Num-
ber (ERNO) IW††0F 1. Motion
setting
parameter
1 to 65
2. Motion fixed
parameter
101 to 148
Indicates the most recent setup parameter number that exceeded the
range in OW††00 to OW††3F motion setting parameter or
motion fixed parameter settings.
• Motion setting parameters: 1 to 65
• Motion fixed parameters: 101 to 148
17 to
20 Not used. IW††10 to
IW††13 − −
21 Motion Com-
mand Re-
sponse Code
(MCMDRCODE) IW††14 0 to 65535 Indicates the OW††20: Motion Command Code that is currently
executing.
Refer to OW††20 for details on motion commands.
22 Motion Com-
mand Status
(MCMDSTS) IW††15 Monitors the executing status of an OW††20: Motion Command Code. The bit config-
uration is described below.
Bit 0 Command
Executing Flag
(BUSY) Indicates the motion command status. This bit is used for abort sta-
tus.
0: READY (completed)
1: BUSY (processing)
Bit 1 Command Hold
Completed Flag
(HOLDL) Turns ON when a HOLD is completed. Refer to individual motion
functions for details on the HOLD function.
Bit 2 Distribution
Completed
(DEN) Turns ON when the amount of movement cleared is completed.
Bit 3 Zero Point Set-
ting Completed
(ZSET) Turns ON when the zero point setting (ZSET) has been executed by
OW††20: Motion Command Code.
Bit 4 Not used. −
Bit 5 Command Error
End (FAIL) Turns ON if an alarm occurs while a movement (positioning, feed,
etc.) command is being executed.
Operation cannot continue once this bit turns ON.
Set Motion Command Code (OW††20) to “NOP” for at least one
scan. The PO-01 Module LEDs will indicate (
) (first axis), ( )
(second axis), ( ) (third axis) and ( )(fourth axis) if this bit is
ON.
Bit 6 Zero Point
Return Com-
pleted (ZRNC) Turns ON when zero point return or zero point setting has been com-
pleted. It turns OFF when zero point return begins.
Bits 7 to 15 Not used. −
23 Number of Digits
Below Decimal
Monitor
(DECNUMM) IW††16 0 to 5 Indicates motion fixed parameter No. 18: Number of Digits Below
Decimal Point.
Table 7.11 Motion Monitoring Parameters (cont’d)
No. Name Register No. Setting Range/
Bit Name
Description