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6.2 Motion Command Details
6.2.24 Phase References (PHASE)
6-91
Motion Commands
( 4 ) Timing Charts
[ a ] Normal Execution
IW
09
Bit 0
Command Execution Flag
Always OFF for PHASE command.
IW
09
Bit 1
Command Hold Completed
Always OFF for PHASE command.
IW
09
Bit 3
Command Error
Completed Status
Turns ON if an error occurs during PHASE command execution.
The axis will decelerate to a stop if it is moving. Turns OFF when another
command is executed.
IW
09
Bit 8
Command Execution
Completed
Always OFF for PHASE command.
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
R
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.