Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 58)

4 Motion Programs
4.3.3 Work Registers
4-6
4.3.3 Work Registers
When registering motion programs as described in 4.3.2 Registering the Program Execution, a work register to
control and monitor the program execution is assigned for each registered program. The work registers are used
to send instructions to the motion programs from the motion program control program, and to get the motion pro-
gram status.
(1) For a Motion Program Called from the Ladder Program Using an MSEE Command
Four words of the register (MA or DA ) that are specified for Data of the MSEE command are
used as the work register.
(2) For a Motion Program Registered in an M-EXECUTOR Program Execution Definition
The M-EXECUTOR control registers are used as the work registers.
The M-EXECUTOR control registers are automatically defined by the system.
The details of the work registers are described from the next page.
1st word
2nd word
3rd word
4th word DW00000
DW00001
DW00002
DW00003 Status flag
Control signal
Override for interpolation
System work number
Register No.
in the Example
Contents Work Register
Output
Input
Input
Input
I/O
Status
Control signal
Override
IW0C00
OW0C01
OW0C02
Status flag
Control signal
Override for interpolation
Work Registers
㧔 M-EXECUTORޓޓޓޓ
ޓޓ Control Registers)
Register No.
in the Example
Contents
Output
Input
Input
I/O