Yaskawa MP920 Motion Module - Manual (Page 355)

7.3 PO-01 Parameters
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7
35 Alarms
(ALARM) IL††22 Alarm data and a halt to operation are indicated if this register shows anything other than
“0.” The register can be cleared by starting up OB††006: Alarm Clear. If an alarm
occurs, the PO-01 Module indicators will indicate (
) (first axis), ( ) (second axis),
( ) (third axis) and ( )(fourth axis). The bit configuration is described below.
Bits 0 to 2 Not used. −
Bit 3 Positive
Software Limit
(SOTF) This bit is valid if IB††156: Zero Point Return Completed turns
ON when the positive software limit is enabled and an infinite length
axis is selected.
1. OW††20: Motion Command Code Interpolation
This bit turns ON when IL††18: Reference Position in
Machine Coordinate System + OL††26: Stopping Distance
≥
Positive Software Limit (motion fixed parameter No. 27).
2. OW††20: Motion Command Codes Positioning, Feed, or Step
This bit turns ON when IL††18: Reference Position in
Machine Coordinate System
≥ Positive Software Limit (motion
fixed parameter No. 27).
Bit 4 Negative
Software Limit
(SOTR) This bit is valid if IB††156: Zero Point Return Completed turns
ON when the negative software limit is enabled and an infinite
length axis is selected.
1. OW††20: Motion Command Code Interpolation
This bit turns ON when IL††18: Reference Position in
Machine Coordinate System + OL††26: Stopping Distance
≤
Negative Software Limit (motion fixed parameter No. 29).
2. OW††20: Motion Command Codes Positioning, Feed, or Step
This bit turns ON when IL††18: Reference Position in
Machine Coordinate System
≤ Negative Software Limit (motion
fixed parameter No. 29).
Bit 5 Excitation OFF
(SVOFF) Turns ON if Motion Command Code (OW††20) is set to a move-
ment command such as POSITIONING or STEP while the system is
in excitation OFF status.
Bit 6 Not used. −
Bit 7 Overspeed
(DISTOVER) Turns ON when an attempt is made to output the number of pulses
that exceeds the maximum pulse output frequency for each scan.
Bit 8 Not used. −
Bit 9 Not used. −
Bit 10 Control Mode
Error
(MODERR) Turns ON when a move command is set at OW††20: Motion Com-
mand Code in a mode other than Position Control Mode
(OB††002 is OFF).
Bits 11 to
31 Not used. −
37 Not used. IW††24 − −
38 Not used. IW††25 − −
39 Speed Refer-
ence Output
Monitor
(RVMON) IL††26
-2
31
to 2
31
-1
Indicates the travel distance every scan and is “0” when IB††170:
Machine Locked is ON.
Table 7.11 Motion Monitoring Parameters (cont’d)
No. Name Register No. Setting Range/
Bit Name
Description