Yaskawa MP940 - Manual (Page 511)

Motion Parameter Tables
C.3 Motion Monitoring Parameters
C-12
C.3 Motion Monitoring Parameters
Motion monitoring parameters are parameters reported by SVA Modules. They are located
at the top of high-speed scans and are reported together. Use these parameters to control
applications and to debug user programs.
Table C.1 Motion Monitoring Parameters
No. Name
Register
No.
Bit Name
(Setting Range)
Meaning Remarks
1 RUN Status (RUNSTS) IWC000 Bit 0: EOVER Error Counter Over
Bit 1: PRMERR Motion Setting Parameter Setting Error
Bit 2: FPRMERR Motion Setting Parameter Setting Error
Bit 3: Not used.
Bit 4: Not used.
Bit 5: Not used.
Bit 6: Not used.
Bit 7: SVCRDY Motion Controller RUN Ready
Bit 8: SVCRUN Motion Controller RUN
Bit 9: DIRINV Rotation Direction when Using Absolute Encoder
Bit 10: ABCRDC Absolute Position Read Completed Signal
Bit 11: DIINT DI Latch Completed Signal
Bit 12: FBPO Feedback Pulse 0
Bit 13: POSCOMP Positioning Completed Signal
Bit 14: Not used.
Bit 15: ZRNC Zero Point Return Completed Signal
2 Servodriver Status
(SYSTS) IWC001 Bit 0: ALM Servo alarm
Bit 1: WARN Warning
Bit 2: V-CMP Speed conformity
Bit 3: TGON Detection during motor rotation
Bit 4: S-RDY Servo ready
Bit 5: CLT Torque limit detection
Bit 6: VLT Speed limit detection
Bit 7: BK Brake interlock
Bit 8: SVON Servo ON completed
Bit 9: PON Main circuit completed
Bit10 to Bit15 Not used
3 Calculated Position in
Machine Coordinate
System (CPOS) ILC002
-2 31 to 2 31 -1
1 = 1 pulse or 1 = 1 reference unit
1 = 1 pulse for pulse unit
Updated when the machine is locked.
5 Target Position
Difference Monitor
(PTGDIF) ILC004
-2 31 to 2 31 -1
1 = 1 pulse or 1 = 1 reference unit
1 = 1 pulse for pulse unit
7 Machine Coordinate
System Latch Position
(LPOS) ILC006
-2 31 to 2 31 -1
1 = 1 reference unit
(1 = 1 pulse for pulse unit)