Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 86)

6 Variables (Registers)
6.2.6 D Variables (D Registers)
6-14
6.2.6 D Variables (D Registers)
(1) Overview
D variables can be used only by the relevant program using specific internal registers for each motion program
and sequence program.
(2) Description
D registers are designated as follows:
The D register can be used as a variable for each type of operation and substituted for the operation result, or
specified as the variable for the positioning coordinate value or the speed. The variable number is expressed as a
decimal.
The size is specified in the program configuration definition (Motion Properties), and the default is 32words max.
(3) Programming Examples
(a) Specifying the Position and Speed in Axis Move Commands as Variables
(b) Using Variables in Operations
• Bit Designation
• Integer Designation
• Double Integer Designation
• Real Number Designation
When the travel distance coordinate value or speed is designated as a variable in the following motion com-
mands, double integer data must be used.
MOV, MVS, MCW/MCC, ZRN, SKP, MVT, EXM, POS, ACC, DCC, SCC, IAC, IDC, IFP, FMX, INP, VEL
DW00000 to DW16383 (Maximum)
• Parameter Reference unit = mm
When decimal point position = 3
DL00100=100000;
DL00102=200000;
DL00104=300000;
DL00106=500000;
MVS [A1]DL00100 [B1]DL00102 [C1]DL00104 FDL00106; → 100.000 mm
→ 200.000 mm
→ 300.000 mm
→ 500.000 mm/min
DB001000=IB01001 & MB000101;
DW00102= (CW00103 | DW00104) & DW00105;
DL00106= (DL00108*ML00011) / ML00200;
DF00200= (MF00202*DF00202)*3.14;
EXAMPLE
EXAMPLE
IMPORTANT