Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 140)

4.4 MP2000 Series Machine Controller Parameter Details
4.4.3 Motion Monitoring Parameter Details
4-64
( 5 ) Motion Command Response Code
( 6 ) Motion Command Status
Description Bit 1F
Connected Encoder Type Error
0: Matched (OFF)
1: Unmatched (ON)
This bit turns ON when the encoder type set in the SVB Definition Window does not match the connected
encoder type.
Refer to 4.2.2 ( 2 ) Alarm When Motor Type is Unmatched for corrective action when this
alarm occurs.
IW 08
Motion Command Response Code
Range Unit
0 to 65535 −
Description
Stores the motion command code for the command that is currently being executed.
This is the motion command code that is currently being executed and is not necessarily the same as the Motion Com-
mand (setting parameter OW
08).
Response codes are also stored when the following processing is executed.
• Servo ON: 29
• Servo OFF: 30
• Alarm Clear: 31
IW 09
Motion Command Status
Range Unit
− −
Description
Bit 0
Command Execution Flag
0: READY (completed)
1: BUSY (processing)
This bit indicates the servo module command status. Refer to Chapter 6 Motion Commands for details on com-
mand timing charts.
This bit turns ON during execution of commands that have been completed or during abort processing.
Bit 1
Command Hold Completed (HOLDL)
0: Command hold processing not completed
1: Command hold completed
This bit turns ON when command hold processing has been completed. Refer to Chapter 6 Motion Commands
for details on command timing charts.
Bit 3
Command Error Completed Status (FAIL)
0: Normal completion
1: Abnormal completion
This bit turns ON if motion command processing does not complete normally.
If motion command execution ends in an error, the axis will stop any motion. Refer to Chapter 6 Motion Com-
mands for details on command timing charts.
Bit 7
Reset Absolute Encoder Completed
0: Reset not completed
1: Reset completed
This bit turns ON when the Reset Absolute Encoder command (ABS_RST) is executed and initialization is
completed.
Refer to Chapter 6 Motion Commands for details on command timing charts.
Bit 8
Command Execution Completed (COMPLETE)
0: Normal execution not completed
1: Normal execution completed
This bit turns ON when motion command processing was completed normally. Refer to Chapter 6 Motion
Commands for details on command timing charts.
IL 04
Alarm (cont’d)
Range Unit
− −
R
R
R
R
R