Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 199)

6.2 Motion Command Details
6.2.4 Interpolation (INTERPOLATE)
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[ b ] Monitoring Parameters
Parameter Name Monitor Contents SVR
IW 00
Bit 1
Running (At Servo
ON) Indicates the Servo ON status.
1: Power supplied to Servomotor, 0: 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 Re-
sponse Code Indicates the motion command that is being executed.
The response code is 4 during INTERPOLATE command execution.
IW 09
Bit 0
Command Executing
Flag
Always OFF for INTERPOLATE command.
IW 09
Bit 1
Command Hold
Completed
Always OFF for INTERPOLATE command.
IW 09
Bit 3
Command Error
Completed Status
Turns ON if an error occurs during INTERPOLATE command execution.
The axis will decelerate to a stop if it is moving. Turns OFF when another command
is executed.
IW 09
Bit 8
Command Execution
Completed
Always OFF for INTERPOLATE 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 the 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
Signal Output Width even if pulse distribution has not been com-
pleted.
OFF in all other cases.
R
R
R
R
R
R
R
R
R
R
R