Yaskawa MP940 User Manual
Page 278
Parameters
6.3.3 Motion Monitoring Parameter Details
6-38
1
RUN status
(RUNSTS),
continued
Bit
8
Motion Controller
RUN (SVCRUN)
This bit turns ON under the following conditions.
• IBC007: RUN Ready turns ON.
• OBC0000 to OBC0004: One of the Control Mode Flags
turns ON.
• OBC0010: Servo ON turns ON.
If an alarm is generated even though this bit is ON in Posi-
tion Control Mode when an OWC020: Motion Command
Code is used, the axis will not move even if a motion com-
mand is issued.
Clear the alarm, set the motion command to “NOP” for 1
scan or more, and then set the motion command again.
9
Rotation Direction
when Using Abso-
lute Encoder
(DIRINV)
Rotation direction when using an absolute encoder
Monitors the rotation direction selected for motion fixed
parameters.
0: Forward
1: Reverse
10
Absolute Position
Read Completed
Signal (ABSRDC)
This parameter turns ON when bit 10 of OWC000: Absolute
Position Read Request turns ON and absolute position data
from the absolute encoder is read. If an error occurs, bit 4 of
IWC000: Cumulative Number of Rotations Received error
will turn ON.
11
DI Latch Com-
pleted Signal
(DIINT)
This parameter turns ON when bit 13 of OWC000: DI Latch
Request turns ON and the DI latch signal is input. The cur-
rent position at this time will be indicated at ILC006: Latch
Position in Coordinate System.
12
Feedback Pulse 0
(FBP0)
This parameter 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.
13
Positioning Com-
pleted Signal
(POSCOMP)
This parameter turns ON when positioning is completed in
Position Control Mode.
1. Motion Commands Not Used
This parameter turns ON when |ILC008: Current Posi-
tion – OLC012: Position Reference|
OWC00E: Posi-
tioning Completed Range
2. Motion Command Used
This parameter turns ON when bit 2 of IWC015:
Distribution Completed turns ON and when |ILC008:
Current Position – OLC018: Reference Position in
Machine System|
OWC00E: Positioning Completed
Range.
14
Not used.
---
15
Zero Point Return
Completed Signal
(ZRNC)
This parameter turns ON when a return to zero point is com-
pleted in Zero Point Return Mode. It turns ON when
|ILC008: Current Position – Zero Point Position|
OWC00E: Positioning Completed range.
2
Servodrive Status
(SYSTS)
IWC001
Reports the SERVOPACK status information. This status information is not used
to control the Motion Module. Use to control the user program as necessary. The
bit configurations are shown below.
Bit
0
ALM
Servo alarm
1
WARN
Warning
No.
Name
Register
No.
Bit Name
Description
≤
≤
≤