Yaskawa MP2000 - Manual (Page 22)

MP2000 Quick Reference Guide Rev1.21
Motion Program Work Registers for MSEE instruction
Bit Name Description
DB000000 Program Running ON while running
DB000001 Program Paused ON while paused
DB000002
program stopped with
program stop request
ON when stopped
DB000004
Program in Debug (Single
Block) Mode
ON during debug via ladder (registers)
DB000008 Program Alarm ON when Motion Program Alarm has occurred
DB000009 Stopped at Break Point
DB00000B Program Debugging Mode ON during Windows (EWS) debug mode
DB00000D Start request signal history ON during request
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 and exit the Motion Program
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)
DB000016
Program Continuous
Operation Start Request
ON will cause program to ….
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
DB00001D
System Work Number
Setting
ON Sets system work register number with 4th word of MSEE work register
DB00001E
Interpolation Override
Setting
ON activates the interpolation override speed with the 3rd MSEE work register
DW00002
DW00003
INPUT (Motion Program Control Signals)
DW00000
OUTPUT (Motion Program Status)
1st W
o
rk R
egister
2nd W
o
rk R
egister
3rd W
o
rk
R
egister
4th W
o
rk
R
egister
INTERPOLATION OVERRIDE (Speed)
The speed set in this register [0.01% of FMX] will override the interpolation speed set in the motion program
(F & IFP commands) when bit E of the 2nd word of the MSEE work register is ON
SYSTEM WORK REGISTER
The system work register number in this register will be used when bit D of the 2nd word of the MSEE work
register is ON. Otherwise the system work register number will be automatically defined by the system and
may be different each time.
The "Data" field of the
MSEE instruction defines
the address for the output
and input registers of the
motion program.
Ex: DA00000 means that
DW00000 through
DW00003 will be used.
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