Yaskawa MP920 User's Manual Design - Manual (Page 413)

7 Parameters
7.2.3 Motion Monitoring Parameter
7-18
7.2.3 Motion Monitoring Parameter
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 7.4 Motion Monitoring Parameters
No Name
Register
No.
Bit
(Setting Range)
Meaning Remarks
SVA-
01A
SVA
-02A
SVB
-01
PO-
01
1 RUN Status
(RUNSTS) IW 00 Bit 0: EOVER Error counter over 9 9
Bit 1: PRMERR Motion setting parameter setting error 9 9 9 9
Bit 2: FPRMERR Motion fixed parameter setting error 9 9 9 9
Bit 3: Not used
Bit 4: PGER Cumulative number of rotations receiving
error 9 9
Bit 5: Not used
Bit 6: Not used
Bit 7: SVCRDY Motion controller RUN ready 9 9 9 9
Bit 8: SVCRUN Motion controller running 9 9 9 9
Bit 9: DIRINV Rotation direction when using absolute
encoder 9 9
Bit 10: ABCRDC Absolute position read completed signal 9 9
Bit 11: DIINT DI latch completed signal 9 9
Bit 12: FBPO Feedback pulse 0 9 9
Bit 13: POSCOMP Positioning completed signal 9 9 9 9
Bit 14: Not used
Bit 15: ZRNC Zero point return completed 9 9
2 Servo Driver
Status
(SYSTS) IW 01 Bits 0 to 15 The meaning of each bit depends on the
Module type. See the explanation on
monitoring parameters of each Module. 9
General-purpose
DI Monitor 9 9 9
3 Machine Coordi-
nate System Cal-
culated Position
(CPOS) IL 02 −2 31 to 2 31 −1 1 = 1 pulse or 1 = 1 reference unit
1 = 1 pulse for pulse unit
Will be updated also when the machine is
locked. 9 9 9 9
5 Target Position
Difference Moni-
tor
(PTGDIF) IL 04 −2 31 to 2 31 −1 1 = 1 pulse or 1 = 1 reference unit
1 = 1 pulse for pulse unit 9 9 9
7 Machine Coordi-
nate System
Latch Position
(LPOS) IL 06 −2 31 to 2 31 −1 1 = 1 reference unit
(1 = 1 pulse for pulse unit) 9 9 9