Yaskawa MP2000 Series: Built-in SVB or SVB-01 Motion Module - Manual (Page 91)

4.3 Motion Parameter Lists
4.3.3 Monitoring Parameter List
4-15
Motion Parameters
IL 04
(Cont’d)
Alarm
Bit 13: Excessive ABS Encoder Rotations
Invalid for linear type
Yes −
4.4.3 ( 4 )
Bits 14 to 1C: Reserved for system use. − −
Bit 1D: Detected Servo Driver Type Error Yes −
Bit 1E: Motor Type Set Error Yes −
Bit 1F: Connected Encoder Type Error Yes −
IL 06 − Reserved for system use. − − −
IW 08
Motion Command
Response Code
Same as OW 08 (Motion Command). Yes Yes 4.4.3 ( 5 )
IW 09
Motion Command
Status
Bit 0: Command Execution Flag Yes Yes
4.4.3 ( 6 )
Bit 1: Command Hold Completed (HOLDL) Yes Yes
Bit 2: Reserved for system use. − −
Bit 3: Command Error Completed Status (FAIL) (Command
Encoder Type Error)
Yes Yes
Bits 4 to 6: Reserved for system use. − −
Bit 7: Reset Absolute Encoder Completed Yes −
Bit 8: Command Execution Completed (COMPLETE) Yes Yes
Bits 9 to F: Reserved for system use. − −
IW 0A
Motion Subcom-
mand Response
Code
Same as OW 0A (Motion Subcommand). Yes Yes 4.4.3 ( 7 )
IW 0B Subcommand Status
Bit 0: Command Executing Flag Yes Yes
4.4.3 ( 8 )
Bits 1 to 2: Reserved for system use. − −
Bit 3: Command Error Completed Status (Command Error
Occurrence)
Yes Yes
Bits 4 to 7: Reserved for system use. − −
Bit 8: Command Execution Completed Yes Yes
Bits 9 to F: Reserved for system use. − −
IW 0C
Position Manage-
ment Status
Bit 0: Discharging Completed (DEN) Yes Yes
4.4.3 ( 9 )
Bit 1: Positioning Completed (POSCOMP) Yes Yes
Bit 2: Latch Complete (LCOMP) Yes −
Bit 3: NEAR Position (NEAR) Yes Yes
Bit 4: Zero Point Position (ZERO) Yes Yes
Bit 5: Zero Point Return (Setting) Completed (ZRNC) Yes Yes
Bit 6: During Machine Lock (MLKL) Yes −
Bit 7: Reserved for system use. − −
Bit 8: ABS Rotary Pos. LOAD Complete (ABS System
Infinite Length Position Control Information Load
Completed) (ABSLDE)
Invalid for linear type
Yes −
Bit 9: POSMAX Turn Preset Complete (TPRSE)
Invalid for linear type
Yes Yes
Bits A to F: Reserved for system use. − −
IW 0D − Reserved for system use. − − −
IL 0E
Target Position in
Machine Coordinate
System (TPOS)
1 = 1 reference unit Yes Yes
4.4.3 ( 10 )
IL 10
Calculated Position in
Machine Coordinate
System (CPOS)
1 = 1 reference unit Yes Yes
IL 12
Machine Coordinate
System Reference
Position (MPOS)
1 = 1 reference unit Yes Yes
IL 14 CPOS for 32 bit 1 = 1 reference unit Yes Yes
(cont’d)
Register No. Name Contents SVB SVR Reference