Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 233)

6.2 Motion Command Details
6.2.18 Alarm Monitor (ALM_MON)
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6.2.18 Alarm Monitor (ALM_MON)
The ALM_MON command reads the alarm or warning that has occurred in the SERVOPACK and stores it in Servo
Driver Alarm Code (monitoring parameter IW
2D). 3-digit alarm codes, such as SGDS or SGDV SERVOPACK
alarm codes, can also be read out by using this command.
( 1 ) Executing/Operating Procedure
1.
Check to see if all the following conditions are satisfied.
2.
Set OW 08 to 19 to execute the ALM_MON motion command.
The ALM_MON command will read the alarm or warning that has occurred in the SERVOPACK and store it in
Servo Driver Alarm Code (monitoring parameter IW
2D).
IW 08 will be 19 during command execution.
IW 09, bit 0 will turn ON during the command processing and will turn OFF when the command processing
has been completed.
3. Set OW 08 to 0 to execute the NOP motion command and then complete the monitoring operation.
( 2 ) Holding and Aborting
The Holds a Command bit (OW 09, bit 0) and the Interrupt a Command bit (OW 09, bit 1) cannot be used.
( 3 ) Related Parameters
[ a ] Setting Parameters
[ b ] Monitoring Parameters
No. Execution Conditions Confirmation Method
1 Motion command execution has been completed. IW 08 is 0 and IW 09, bit 0 is OFF.
Parameter Name Setting
OW 08 Motion Command Alarms are monitored when this parameter is set to 19.
OW 09
Bit 0
Holds a Command This parameter is ignored for ALM_MON command.
OW 09
Bit 1
Interrupt a Command This parameter is ignored for ALM_MON command.
OW 4F
Servo Driver Alarm
Monitor No. When several alarms and warnings occur at the same time, set the number of the alarm
or warning to be monitored.
Parameter Name Monitor Contents
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 will be 19 during ALM_MON command execution.
IW 09
Bit 0
Command Execution
Flag Turns ON during ALM_MON command execution and turns OFF when execution has
been completed.
IW 09
Bit 1
Command Hold
Completed
Always OFF for ALM_MON command.
IW 09
Bit 3
Command Error
Completed Status Turns ON if an error occurs during ALM_MON command execution.
Turns OFF when another command is executed.
IW 09
Bit 8
Command Execution
Completed
Turns ON when ALM_MON command execution has been completed.
IW 2D
Servo Driver Alarm
Code
Stores the SERVOPACK alarm or warning code that was read.