Yaskawa MP2000 Series: User's Manual for Motion Programming User Manual

Page 211

8 Command Reference

8.4.7 User Function Call From Motion Program (UFC)

8-104

The following 11 types of register can be used in each function.

Note: SA, MA, IA, OA, DA, #A, and CA can also be used inside functions.

Table 8.2 Function Registers

Type

Name

Designation Method

Description

Characteristics

Function input
register

XB, XW, XL, XFnnnnn

Input to a function
Bit input: XB000000 to XB0000F
Integer input: YW00001 to XW00016
Double integer input: XL00001 to XL00015
Register number nnnnn is a decimal expres-
sion.

Unique to each
function

Function output
register

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 number nnnnn is a decimal expression

Internal function
register

ZB, ZW, ZL, ZFnnnnn

Internal register unique to each function
Can be used by the function for internal pro-
cesses.
Register number nnnnn is a decimal expres-
sion.

External
function register

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 number nnnnn is a decimal expres-
sion.

# register

#B, #W, #L, #Fnnnnn
(#Annnnn)

Registers that can be referenced only by a pro-
gram.
Can be referenced only the corresponding
drawing.
The actual range to be used is specified by the
user using the MPE720.
Register number nnnnn is a decimal expres-
sion.

D register

DB, DW, DL, DFnnnnn
(DAnnnnn)

Registers unique to each drawing
Can be referenced only by the corresponding
drawing.
The actual range to be used is specified by the
user using the MPE720.
Register number nnnnn is a decimal expres-
sion.

System register

SB, SW, SL, SFnnnnn
(SAnnnnn)

Same as the drawing registers.
These registers are used for both drawings and
functions. Care must be taken in using them to
reference the same function from drawings
with different priority levels.