Yaskawa MP930 - Manual (Page 216)

5.2 Parameter Settings
5 -31
No. Remarks Description Register
No.
Name
2 MECHATROLINK servo
status IWxx01 b6: ZPOINT Turns ON when the feedback position
(OLxx08) on the machine coordinate sys-
tem is in the set zero point range. Use the
user constant Cn-002A to set the zero point
range. −
b7: PSET Turns ON when the distribution (IWxx01
b8) has been completed and the feedback
position on the machine coordinate system
(ILxx08) is in the positioning completion
range of the target position. Use the user
constant Cn-001B to set the positioning
completion range. −
b8: DEN Turns ON when the reference position is on
the final target positioning location. Com-
pletes the distribution of position reference. −
b9: T_LIM Turns ON when the torque limit value limits
the torque reference. Use the user constants
Cn-008 (positive torque limit) and Cn-009
(negative torque limit) to set the torque lim-
it. −
b10: L_CMP Enters latch mode during execution of a
latch system command. Turns ON when
latch position data is prepared after having
received a latch signal. Turns OFF when
receiving a signal other than a latch system
command and cancels the latch mode. The
latch system command indicates the motion
commands, EXPOSING (OWxx20 = 2) and
ZRET (OWxx20 = 3). −
b11: NEAR Turns ON when the feedback position
(ILxx08) for the machine coordinate system
is within the range of the positioning prox-
imity detection width of the target position.
Use the user constant Cn-0007 to set the
positioning proximity detection width. The
completion of distribution DEN (IWxx01
b8) does not affect NEAR. −
b12: P-SOT
(Not used) Not used since the P-SOT mask on the
Servopack is set.
Note: Be sure to set the P-SOT mask (user
constant Cn-0004 b3) on the
Servopack to 1.
−
5