Yaskawa MP940 User Manual
Page 513
Motion Parameter Tables
C.3 Motion Monitoring Parameters
C-14
25
Machine Coordinate
System Reference
Position (MPOS)
ILC018
-2
31
to 2
31
-1
1 = 1 pulse for pulse unit
Will not be updated if the machine is locked.
27
Serial Command
Response Monitor
IWC01A
SGDH Serial Command Response Monitor
1. Reading data
01H: Normal
41H: Data error
81H: Address error
2. Writing data
02H: Normal
42H: Data error
82H: Address error
C2H: Response timeout
28
Serial Command
Address Monitor
ILC01B
Address Monitor during SGDH Serial Command
Execution
29
POSMAX Monitor
(PMAXMON)
ILC01C
1 to 2
31
-1
1 = 1 reference unit
Copies motion fixed parameter “POSMAX.”
31
Number of POSMAX
Turns
(PMAXTURN)
ILC01E
-2
31
to 2
31
-1
1 = 1 rotation
Raises or lowers the count each time POSMAX is
exceeded.
(Initializes to 0 at startup.)
33
Serial command data
monitor
IWC020
Data Monitor during SGDH Serial Command
Execution
35
Alarms (ALARM)
ILC022
Bit 0: SVERROR
Servo Amp Error
Bit 1: OTF
Positive Overtravel
Bit 2: OTR
Negative Overtravel
Bit 3: SOTF
Positive Software Limit
Bit 4: SOTR
Negative Software Limit
Bit 5:
Bit 6: TIMEOVER
Positioning Time Over
Bit 7: DISTOVER
Overspeed
Bit 8:
Bit 9:
Bit 10: MODERR
Control Mode Error
Bit 11: ZSET_NRDY
Zero Point Not Set
Bit 12:
Bit 13:
Bit 14: WDT-ERR
Servodriver Synchronous Communications Error
Bit 15:
Bit 16:
Bit 17: ABSOVER
ABS Encoder Rotations Exceeded
Bit 18:
Bit 19:
Not used.
Bit 20 to 31:
Not used.
No.
Name
Register
No.
Bit Name
(Setting Range)
Meaning
Remarks