Yaskawa JAPMC-MC2300 - Manual (Page 215)

7.2 Motion Command Details
7.2.9 Speed Reference (VELO)
7-75
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 23 during VELO command execution.
IW 09
Bit 0
Command Execution
Flag Turns ON when abort processing is being performed for VELO command.
Turns OFF when abort processing has been completed.
IW 09
Bit 1
Command Hold
Completed
Always OFF for VELO command.
IW 09
Bit 3
Command Error
Completed Status
Turns ON if an error occurs during VELO command execution.
The axis will decelerate to a stop if it is operating. Turns OFF when another command is
executed.
IW 09
Bit 8
Command Execution
Completed
Always OFF for VELO command.
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 NEAR Signal Output Width (setting parameter
OL
20).
OL 20 = 0: Turns ON when pulse distribution has been completed (DEN = ON).
Otherwise, 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 Set-
ting, even if pulse distribution has not been completed.
OFF in all other cases.
OW 08=23(VELO)
IW 08=23(VELO)
IW 09, bit 0 (BUSY)
IW 09, bit 8 (COMPLETE)
IW 09, bit 3 (FAIL)
IW 0C, bit 0 (DEN)
1 scan
Speed control mode Position control mode