Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 235)

6.2 Motion Command Details
6.2.19 Alarm History Monitor (ALM_HIST)
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6.2.19 Alarm History Monitor (ALM_HIST)
The ALM_HIST command reads the alarm or warning history that is stored in the SERVOPACK and stores it in Servo
Driver Alarm Code (monitoring parameter IW 2D).
( 1 ) Executing/Operating Procedure
1.
Check to see if all the following conditions are satisfied.
2.
Set OW 08 to 20 to execute the ALM_HIST motion command.
The ALM_HIST command will read the alarm or warning history that is stored in the SERVOPACK and store it
in Servo
Driver Alarm Code (monitoring parameter IW 2D).
IW 08 will be 20 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 The alarm history is monitored when this parameter is set to 20.
OW 09
Bit 0
Holds a Command This parameter is ignored for ALM_HIST command.
OW 09
Bit 1
Interrupt a Command This parameter is ignored for ALM_HIST command.
OW 4F
Servo Driver Alarm
Monitor No.
Set the alarm history number of a past SERVOPACK alarm or warning in the alarm his-
tory to be monitored.
0 to 9: Alarm history number of a past alarm or warning
10: Latest alarm or warning
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 20 during ALM_HIST command execution.
IW 09
Bit 0
Command Execution
Flag Turns ON during ALM_HIST command execution and turns OFF when execution has
been completed.
IW 09
Bit 1
Command Hold Com-
pleted
Always OFF for ALM_HIST command.
IW 09
Bit 3
Command Error
Completed Status Turns ON if an error occurs during ALM_HIST command execution.
Turns OFF when another command is executed.
IW 09
Bit 8
Command Execution
Completed
Turns ON when ALM_HIST command execution has been completed.
IW 2D
Servo Driver Alarm
Code
Stores the SERVOPACK alarm code that was read.