Motion Programs And Msee And S Registers - YASKAWA MP210 Series User Manual

5.2.4 Motion Programs and MSEE and S Registers

Motion program status, control signal, interpolation override, and system work number data is saved in four
MSEE registers (4 words) with a DA (: hexadecimal number) leading address. This data is called
every time the MSEE command is executed in an H drawing. Motion program execution information can be
monitored in the S registers.
The following figure shows the method for executing motion programs. MSEE register details and S register
descriptions are also provided below from (1) onwards.
External ladder control
signal
• Operation start
• Pause
• Stop, etc.
DWG.H
Ladder program for
motion program control
Ladder program
Note: For the meaning of register numbers and how to interpret them, refer to 5.3 Registers on page 5-23.
(1) Motion Program Status Bits (DA+0)
The leading word (DA+0) in the MSEE work registers contains the motion program status bits for
monitoring execution status of the motion program.
The following table shows details of status bit.
Bit No.
0 Program running
1 Program paused
2 Program stopped by stop request (used by system)
3 (Used by system)
4 Single program block operation stopped
8
Program alarm
9
Stopped by brake point
B In debug mode (EWS debugging operation)
D Start request signal history
E No system work error
F Main program number exceeded error
Note: Alarm details are saved in the S registers.
MSEE
work registers
address
DA
DA
DA
DA
( : hexadecimal number)
Calling MSEE work
Motion program No.
.
MSEE work registers
.
leading address
.
.
.
.
.
.
DEND
Status
Status
+0
Control signal
+1
Interpolation override
+2
System work number
+3
Execution control using
motion management function
registers
VEL [a1] 5000 [b1]..
FMX T10000000;
IAC
IDC
MOV [a1] 300. [b1]..
MVS [a1] 200. [b1]..
END
Motion program
5.2 User Programs
MPM001
T25;
T30;
.
.
.
.
5
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