Yaskawa JAPMC-MC2300 - Manual (Page 152)

7.2 Motion Command Details
7.2.2 External Positioning (EX_POSING)
7-12
[ b ] Monitoring Parameters
Parameter Name Monitor Contents
IW 00
Bit 1
Running
(At Servo ON) Indicates the Servo ON status.
ON: Power supplied to Servomotor, OFF: Power not supplied to Servomotor
IL 02 Warning Stores the most current warning.
IL 04 Alarm Stores the most current alarm.
IW 08
Motion Command
Response Code Indicates the motion command that is being executed.
The response code is 2 during EX_POSING command execution.
IW 09
Bit 0
Command
Execution Flag Turns ON during EX_POSING command execution.
Turns OFF when command execution has been completed.
IW 09
Bit 1
Command Hold
Completed
Turns ON when a deceleration to a stop has been completed as the result of setting the Holds
A Command bit (OW
09, bit 1) to 1 during EX_POSING command execution (IW 08
= 2).
IW 09
Bit 3
Command Error
Completed Status
Turns ON if an error occurs during EX_POSING command execution.
The axis will decelerate to a stop if it is moving. Turns OFF when another command is exe-
cuted.
IW 09
Bit 8
Command
Execution
Completed
Turns ON when EX_POSING command execution has been completed.
IW 0C
Bit 0
Discharging
Completed Turns ON when pulse distribution has been completed for the move command.
Turns OFF during execution of a move command.
IW 0C
Bit 1
Positioning
Completed Turns ON when pulse distribution has been completed and the current position is within the
Positioning Completed Width. OFF in all other cases.
IW 0C
Bit 2
Latch Completed
Turns OFF when a new latch command is executed and turns ON when the latch has been
completed. The latched position is stored as the Machine Coordinate System Latch Position
(monitoring parameter IL
18).
IW 0C
Bit 3
NEAR Position
The operation depends on the setting of the NEAR Signal Output Width (setting parameter
OL
20).
OL 20 = 0:Turns ON when pulse distribution has been completed (DEN = ON). Other-
wise, it turns OFF.
OL 20 ≠ 0:Turns ON when the absolute value of the difference between MPOS
(IL 12) and APOS (IL 16) is less than the NEAR Position Setting
even if pulse distribution has not been completed.
OFF in all other cases.
IL 18
Machine
Coordinate System
Latch Position
Stores the current position in the machine coordinate system when the latch signal turned
ON.