Yaskawa MP2300S Basic Module - Manual (Page 367)

Appendix E Motion Parameter Details
E.3 Monitoring Parameter List
A-45
Appendices
IL††20
Speed Reference
Output Monitor
pulse/s Yes
IL††22 to
IL††2A
− Reserved − −
IW††2C Servo Driver Status
Bit 0: Alarm (ALM)
Bit 1: Warning (WARNG)
Bit 2: Command Ready (CMDRDY)
Bit 3: Servo ON (SVON)
Bit 4: Main Power Supply ON (PON)
Bit 5: Machine Lock (MLOCK)
Bit 6: Zero Position (ZPOINT)
Bit 7: Locating Completed (Positioning Completed)(PSET)
Bit 8: Command Profile Complete (Distribution Completed) (DEN)
Bit 9: Torque Restriction (T_LIM)
Bit A: Latch Complete (L_CMP)
Bit B: Locating Neighborhood (NEAR Position) (NEAR)
Bit C: Positive Software Limit (P_SOT)
Bit D: Negative Software Limit (N_SOT)
Yes
Bits E to F: Reserved − −
IW††2D
Servo Driver Alarm
Code
Stores the alarm code from the SERVOPACK. Yes
IW††2E
Servo Driver I/O Moni-
tor
Bit 0: Forward Side Limit Switch Input
Bit 1: Reverse Side Limit Switch Input
Bit 2: Deceleration Dog Switch Input
Bit 3: Encoder Phase-A Signal Input
Bit 4: Encoder Phase-B Signal Input
Bit 5: Encoder Phase-C Signal Input
Bit 6: EXT1 Signal Input
Bit 7: EXT2 Signal Input
Bit 8: EXT3 Signal Input
Bit 9: Brake State Output
Bit A*: Stop Signal (HWBB)
Bit B: Reserved
Bit C: CN1 Input Signal (IO12)
Bit D: CN1 Input Signal (IO13)
Bit E: CN1 Input Signal (IO14)
Bit F: CN1 Input Signal (IO15)
Yes
IW††2F
Servo Driver User
Monitor Information
Bits 0 to 3: Monitor 1
Bits 4 to 7: Monitor 2
Bits 8 to B: Monitor 3
Bits C to F: Monitor 4
Yes
IL††30
Servo Driver User
Monitor 2
Stores the result of the selected monitor. Yes
IL††32
Servo Driver User
Monitor 3
Reserved − −
IL††34
Servo Driver User
Monitor 4
Stores the result of the selected monitor. Yes
IW††36
Servo Driver User
Constant No.
(SERVOPACK Pa-
rameter No. for
MECHATROLINK
Command Area)
Stores the number of the parameter being processed. Yes
IW††37
Supplementary Servo
Driver User Constant
No. (SERVOPACK
Parameter No. for
MECHATROLINK
Subcommand Area)
Stores the number of the parameter being processed. Yes
(cont’d)
Register No. Name Contents SVB SVR