YASKAWA SGD7C-***AMAA*** Product Manual page 323

7.1 User Program Types and Execution Timing
7.1.2 Motion Programs
Work Registers
Work registers are used to set and monitor motion programs.
The first work register for a motion program that is called with an MSEE instruction is specified
in the MSEE instruction in the ladder program. The following figure shows the structure of the
work registers.
 Motion Program Status Flags
The Motion Program Status Flags give the execution condition of the motion program. The fol-
lowing table describes the meanings of the Status Flags.
Bit No.
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Note: If a program alarm occurs, motion program error information is provided in the Motion Alarm Dialog Box and
in the S registers.
7-14
Work Regi ter
1 t regi ter Motion Program tatu Flag
2nd regi ter Motion Program Control ignal
rd regi ter Interpolation Override
4th regi ter y tem Work Number
Program is being executed.
Program is paused.
Program is stopped due to a stop request (for system use).
Reserved.
Program single-block execution is stopped.
Reserved.
Reserved.
Reserved.
There is a program alarm.
Execution is stopped at a breakpoint.
Reserved.
The program is in Debug Mode (EWS debugging).
Program Type, 0: Motion Program
Start Request History
No System Work Available Error
Execution Scan Error
Main Program Number Limit Exceeded Error
Fir t work regi ter
(M regi ter or D regi ter)
De cription
Status