Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 252)

6.2 Motion Command Details
6.2.24 Phase References (PHASE)
6-91
Motion Commands
( 4 ) Timing Charts
[ a ] Normal Execution
[ b ] Execution when Aborted
IW 0C
Bit 0
Discharging Completed
Turns ON when pulse distribution has been completed for the move com-
mand.
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 posi-
tion 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 of 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 distribu-
tion has not been completed.
OFF in all other cases.
(cont’d)
Parameter Name Monitor Contents SVR
R
R
R
OW 08 = 25 (PHASE)
IW 08 = 25 (PHASE)
IW 09, bit 0 (BUSY)
IW 09, bit 8 (COMPLETE)
IW 09, bit 3 (FAIL)
IW 0C, bit 0 (DEN)
IW 0C, bit 1 (POSCOMP)
Undefined length of time 1 scan
The Target Position is automatically refreshed every scan.
Undefined length of time
IW 0C, bit 1 (POSCOMP)
1scan
OW 08=25(PHASE)
IW 09, bit 0 (BUSY)
IW 08=25(PHASE)
IW 09, bit 3 (FAIL)
IW 0C, bit 0 (DEN)
IW 09, bit 8 (COMPLETE)
The Target Position is automatically refreshed every scan.