YASKAWA MP2100 Series, User Manual

Page: 191 / 455

7 Motion Parameters
7.2.3 Motion Monitoring Parameter Details
7-36
(9) Position Management Status
IW
††
0C
Position Management Status
Range Unit
− −
IW †† 0C Bit 0 Distribution Completed (DEN)
This bit turns ON when pulse distribution has been completed for a move command.
This bit turns ON when the SERVOPACK parameter Distribution Completed
(monitoring parameter IB
†† 2C8) turns ON and the SVB-01 Module’s internal distri-
bution processing is completed.
OFF: Distributing pulses
ON: Distribution completed
Bit 1
Positioning Completed (POSCOMP)
This bit turns ON when pulse distribution has been completed and the current position
is within the Positioning Completed Width (i.e., after SERVOPACK Positioning Com-
pleted (IB
††
2C7) turns ON).
OFF: Outside Positioning Completed Width
ON: In Positioning Completed Width
Bit 2 Latch Completed (LCOMP)
This bit turns OFF when a new latch command is executed and turns ON when the
latch has been completed. The latched position is stored as the Machine Coordinate
Latch Position (monitoring parameter IL
†† 18).
OFF: Latch not completed
ON: Latch completed
Bit 3 Position Proximity (NEAR)
The operation of this bit depends on the setting of the Positioning Completed Width 2
(setting parameter OL
††
20).
• OL †† 20 = 0: This bit turns ON when pulse distribution has been completed
(monitoring parameter IB †† 0C0).
• OL †† 20
≠
0: This bit turns ON when the result of subtracting the Machine Coor-
dinate Feedback Position (IL †† 16) from the Machine Coordinate System Position
(IL †† 12) is less than the Position Completed Width 2, even if pulse distribution
has not been completed.
OFF: Outside position proximity range
ON: In position proximity range
Bit 4 Zero Point Position (ZERO)
This bit turns ON when the Machine Coordinate System Position (monitoring
parameter IL
†† 12) is within the Home Window (setting parameter OW †† 3D) after
a zero point return (setting) has been completed.
OFF: Outside zero point position range
ON: In zero point position range
Bit 5 Zero Point Return (Setting) Completed (ZRNC)
This bit turns ON when a zero point return (setting) has been completed. This bit turns
OFF when a new zero point return (setting) operation is started, when communication
with the SERVOPACK stop, or when a Servo alarm related to the encoder occurs.
OFF: Zero point return (setting) not completed
ON: Zero point return (setting) completed