Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 211)

6.2 Motion Command Details
6.2.7 Relative Position Mode (STEP) (Step Mode)
6-50
[ b ] Monitoring Parameters
( 5 ) Timing Charts
[ a ] Normal Execution
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
Response Code Indicates the motion command that is being executed.
The response code is 8 during STEP command execution.
IW 09
Bit 0
Command Execu-
tion Flag The Command Execution Flag bit will turn ON during STEP command execution
and then turn 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 (OW
09, Bit1) bit 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 executed.
IW 09
Bit 8
Command Execu-
tion 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 Com-
pleted 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
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