Yaskawa MP930 - Manual (Page 77)

Basic System Operation
3.4.3 Motion Programming
3 -18
The following illustration shows the method of executing a motion program.
DWG.H
DEND
MSEEMPM001DA00000
MPM001
END
.
.
.
.
VEL [a1]5000 [b1]..
FMX T10000000;
IAC T25;
IDC T30;
MOV [a1]300. [b1]..
MVS [a1]200. [b1]..
Ladder logic program Motion program
Motion management functions
External control signals
D
Operation start
D Pause
D Stop
D Program operation start
D Program pause
D Program stop
MSEE work register
Status
Control signals
Program con-
trol signals
Ladder logic program
for motion program
control
Motion program
number MSEE work
register address
J Status Flag of Motion Program
The 1st word of MSEE work resister is a motion program status flag that indicates the execution
status of the motion program. The detailed contents of status flag are shown in the table below.
Bit Status
b0 Program running
b1 Program pause
b2 Program pause by a program stop request
b3 (For system use)
b4 Program under debugging
b8 Program alarm occurring
bB In debugging mode (EWS debugging)
bE Duplicated main program error
bF Main program over-numbered error
3