YASKAWA MP2200 User Manual page 169

( 4 ) Work Register
Configure and monitor a motion program via a work register.
The work register constitution for motion programs referenced by a MSEE command from a ladder program differs
from that for motion programs registered in the M-EXECUTOR program execution definition.
The work register constitution in each case is as follows:

Motion Program Executed by a MSEE Command from a Ladder Program
Use a MSEE command of a ladder program to designate the work register (M or D register).
The work register constitution is as follows:
Work Register
First word
Second word
Third word
Fourth word

Motion Program Registered in M-EXECUTOR Program Execution Definitions (Supported by CPU-
03 and CPU-04.)
The work register is assigned to a M-EXECUTOR control register. (automatically defined by system)
The M-EXECUTOR control register constitution is as follows:
M-EXECUTOR
Control Register
Status
Control Signal
Override
For more information on the work register, refer to the subsequent pages.
Work register
(designate M or D register)
Description
Status flag of a motion program
Control signal of a motion program
Override for interpolation
System work number
Description
Status flag of a motion program
Control Signal of a motion program
Override for interpolation
5.2 User Programs
5.2.3 Motion Programs
Work register
(automatically defined
by system)
5
5-19