Yaskawa JAPMC-MC2300 - Manual (Page 209)

7.2 Motion Command Details
7.2.7 STEP Operation (STEP)
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7
Motion Commands
[ b ] Monitoring Parameters
( 5 ) Timing Charts
[ a ] Normal Execution
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 8 during STEP command execution.
IW 09
Bit 0
Command
Execution Flag Turns ON during STEP command execution and then turns OFF when STEP 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 STEP command execution
(IW 08 = 8).
IW 09
Bit 3
Command Error
Completed Status
Turns ON if an error occurs during STEP 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 STEP 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
Width of Positioning Completion. OFF in all other cases.
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). Oth-
erwise, 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.
OW 08 = 8 (STEP)
IW 08 = 8 (STEP)
IW 09, bit 0 (BUSY)
Undefined length of time
IW 09, bit 8 (COMPLETE)
IW 09, bit 3 (FAIL)
IW 0C, bit 0 (DEN)
IW 0C, bit 1 (POSCOMP)
1 scan