Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 248)

6.2 Motion Command Details
6.2.23 Torque /Thrust Reference (TRQ)
6-87
Motion Commands
( 5 ) Timing Charts
[ a ] Normal Execution
[ b ] Executed when Aborted
IW 09
Bit 8
Command Execution
Completed
Always OFF for TRQ command.
IW 0C
Bit 0
Discharging Complet-
ed 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 of this bit depends on the setting NEAR Signal Output Width (set-
ting 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 completed.
OFF in all other cases.
(cont’d)
Parameter Name Monitor Contents SVR
R
R
R
R
OW 08 = 24 (TRQ)
IW 08 = 24 (TRQ)
IW 09, bit 0 (BUSY)
IW 09, bit 8 (COMPLETE)
IW 09, bit 3 (FAIL)
IW 0C, bit 0 (DEN)
1 scan
IW 0C, bit 1 (POSCOMP)
1 scan
OW 09, bit 1 (ABORT)
Torque Control Mode Position Control Mode
OW 08 = 24 (TRQ)
IW 08 = 24 (TRQ)
IW 09, bit 0 (BUSY)
IW 09, bit 8 (COMPLETE)
IW 09, bit 3 (FAIL)
IW 0C, bit 0 (DEN)