Yaskawa MP900 - Manual (Page 11)

MP920 QRG Rev1.5
Motion Program Work Registers for MSEE instruction
Bit Name Description
DB000000 Program Running ON while running
DB000001 Program Paused ON while paused
DB000004
Program in Debug (Single
Block) Mode
ON during debug via ladder (registers)
DB000008 Program Alarm ON when Motion Program Alarm has occurred
DB00000B Program Debugging Mode ON during Windows (EWS) debug mode
DB00000E Program Duplication Error
ON when another Motion Program in the same group has started while this
program is running
DB00000F Program Number Limit Error ON when the number of steps in program exceeded maximum
DW00001
Bit Name Description
DB000010 Program Start Request ON with rising edge. (if it CAN start it will, otherwise alarm)
DB000011 Program Pause Request ON will pause motion blocks
DB000012 Program Stop Request
ON will stop all group motion, exit the Motion Program, and generate a motion
program alarm
DB000013 Program Debug Mode Select "Single block mode". ON will force debugging mode
DB000014 Program Debug Start "Single Block Mode" start. ON (transition) debug block by block
DB000015 Program alarm Reset ON will clear the program alarm (stop program before issuing alarm reset)
DB000018 Block Skip 1 Operation
ON will cause the program to skip an interpolated motion block if the SKP ss1
instruction was used instead of MVS
DB000019 Block Skip 2 Operation
ON will cause the program to skip an interpolated motion block if the SKP ss2
instruction was used instead of MVS
INPUT (Motion Program Control Signals)
DW00000
OUTPUT (Motion Program Status)
1s
t Wor
k R
egis
ter
2nd Wor
k R
egis
ter
INTERPOLATION OVERRIDE (Speed)
MW00001
SPEED OVERRIDE
Error Code Register
MWxxxx
(Defined in Group
Definition)
OW**2C
Interpolation speed set by F designation and IFP is scaled by the value in this register [units 0.01%].
See Section 8.2.2 in Motion Module Manual (SIE-887-2.5).
To clear a motion program alarm:
A. Determine and resolve the cause of the alarm (Alarm Register
The speed set by the VEL command (OLC022) will be scaled by the value in OWC02C [units 0.01%] when
Fixed Parameter 17, bit 9 =1.
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