Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module User Manual

Page 203

6.2 Motion Command Details

6.2.5 Interpolation Mode with Latch Input (LATCH)

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[ b ] Monitoring Parameters

Parameter

Name

Monitor Contents

SVR

Bit 1

Running (At Servo
ON)

Indicates the Servo ON status.
1: Power supplied to Servomotor, 0: Power not supplied to Servomotor

Warning

Stores the most current warning.

Alarm

Stores the most current alarm.

Motion Command
Response Code

Indicates any alarms that have occurred during execution.
The response code is 6 during LATCH operation.

Bit 0

Command
Execution Flag

Always OFF for LATCH operation.

Bit 1

Command Hold
Completed

Always OFF for LATCH operation.

Bit 3

Command Error
Completed Status

Turns ON if an error occurs during LATCH operation. The axis will decelerate to a
stop if it is moving. Turns OFF when another command is executed.

Bit 8

Command
Execution
Completed

Always OFF for LATCH operation.

Bit 0

Discharging
Completed

Turns ON when distribution has been completed for the move command.
Turns OFF during execution of a move command.

Bit 1

Positioning
Completed

Turns ON when distribution has been completed and the current position is within the
Width of Positioning Completion. OFF in all other cases.

Bit 2

Latch Complete

This bit 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 (LPOS) (monitoring parameter IL

18).

−

Bit3

NEAR Position

The operation depends on the setting of the NEAR Signal Output Width (setting
parameter OL

20).

20 = 0:Turns ON when pulse distribution has been completed (DEN = ON).

Otherwise, it turns OFF.

≠

0:Turns ON when the absolute value of the difference between MPOS

(IL

12) and APOS (IL

16) is less than the NEAR Signal Out-

put Width even if pulse distribution has not been completed.
OFF in all other cases.

Machine Coordi-
nate System Latch
Position (LPOS)

Stores the current position in the machine coordinate system when the latch signal
turned ON.

−