Yaskawa MP900 Series Motion Programming Manual - Manual (Page 101)

3.1 High-Level Control Commands
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The 11 types of register shown in the following table can be used in functions.
Table 3.1 Function Registers
Type Name Designation Method Description Characteristic
X Function Input
Registers XB,XW,XL,XFnnnnn Input to a function
Bit input: XB000000 to XB0000F
Integer input: XW00001 to XW00016
Double integer input: XL00001 to XL00015
Register No. nnnnn is a decimal expression. Specific to each
function
Y Function
Output
Registers YB,YW,YL,YFnnnnn Input to a function
Bit input: YB000000 to YB0000F
Integer input: YW00001 to YW00016
Double integer input: YL00001 to YL00015
Register No. nnnnn is a decimal expression.
Z Internal
Function
Registers ZB,ZW,ZL,ZFnnnnn Internal registers unique to each function.
Can be used by the function for internal processes.
Register No. nnnnn is a decimal expression.
A External
Function
Registers AB,AW,AL,AFnnnnn External registers that use the address input value as
the base address.
For linking with S, M, I, O, #, and Dannnnn.
Register No. nnnnn is a decimal expression.
# # Registers #B,#W,#L,#Fnnnnn
(#Annnnn) Registers that can be referenced only by a program.
Can be referenced only by the corresponding drawing.
The actual range used is specified by the user in the
MPE720.
Register No. nnnnn is a decimal expression.
D D Registers DB,DW,DL,DFnnnnn
(DAnnnnn) Registers unique to each drawing.
Can be referenced only by the corresponding drawing.
The actual range used is specified by the user in the
MPE720.
Register No. nnnnn is a decimal expression.
S System
Register SB,SW,SL,SFnnnnn
(SAnnnnn) Same as the drawing registers.
These registers are common to drawings and func-
tions Care is required in using them when the same Common to
drawings
M Data Register MB,MW,ML,MFnnnnn
(MAnnnnn)
tions. Care is required in using them when the same
function is referenced from drawings with different
priority levels.
I Input Register IB,IW,IL,IFhhhh
(IAhhhh)
O Output Register OB,OW,OL,Ofhhhh
(OAhhhh)
C Constant
Register CB,CW,CL,CFhhhhh
(CAnnnnn)
SA, MA, IA, OA, DA, #A, and CA can also be used inside functions.
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