Yaskawa MP2300S Basic Module - Manual (Page 366)

Appendix E Motion Parameter Details
E.3 Monitoring Parameter List
A-44
IW††09
Motion Command
Status
Bit 0: Command Execution Flag Yes Yes
Bit 1: Command Hold Completed Yes Yes
Bit 2: Reserved − −
Bit 3: Command Error Completed Status
(Command Error Occurrence)
Yes Yes
Bits 4 to 6: Reserved − −
Bit 7: Reset Absolute Encoder Completed Yes
Bit 8: Command Execution Completed Yes Yes
Bits 9 to F: Reserved − −
IW††0A
Subcommand Re-
sponse Code
Same as OW††0A (Motion Subcommand). Yes Yes
IW††0B Subcommand Status
Bit 0: Command Execution Flag Yes Yes
Bits 1, 2: Reserved − −
Bit 3: Command Error Completed Status
(Command Error Occurrence)
Yes Yes
Bits 4 to 7: Reserved − −
Bit 8: Command Execution Completed Yes Yes
Bits 9 to F: Reserved − −
IW††0C
Position Management
Status
Bit 0: Distribution Completed Yes Yes
Bit 1: Positioning Completed Yes Yes
Bit 2: Latch Completed Yes
Bit 3: NEAR Position Yes Yes
Bit 4: Zero Point Position Yes Yes
Bit 5: Zero Point Return (Setting) Completed Yes Yes
Bit 6: During Machine Lock Yes
Bit 7: Reserved − −
Bit 8: ABS Rotary Pos. Load Complete (ABS System Infinite Length
Position Control Information Load Completed)
• Invalid for linear type.
Yes
Bit 9: POSMAX Turn Preset Complete (TPRSE)
• Invalid for linear type.
Yes Yes
Bits A to F: Reserved − −
IW††0D − Reserved − −
IL††0E
Target Position in
Machine Coordinate
System (TPOS)
1 = 1 reference unit Yes Yes
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
IL††16
Machine Coordinate
System Feedback
Position (APOS)
1 = 1 reference unit Yes Yes
IL††18
Machine Coordinate
System Latch Position
(LPOS)
1 = 1 reference unit Yes
IL††1A Position Error (PERR) 1 = 1 reference unit Yes
IL††1C
Target Position
Difference Monitor
1 = 1 reference unit Yes
IL††1E
Number of POSMAX
Turns 1 = 1 turn
• Invalid for linear type.
Yes Yes
(cont’d)
Register No. Name Contents SVB SVR