YASKAWA MP3000 Series Setup Manual page 148

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.
Work Register
1st register
2nd register
3rd register
4th register
 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 Program is being executed.
1 Program is paused.
Program is stopped due to a stop request (for system
2
use).
3 Reserved for system.
4 Program single-block execution is stopped.
5 Reserved for system.
6 Reserved for system.
7 Reserved for system.
8 There is a program alarm.
9 Execution is stopped at a breakpoint.
A Reserved for system.
B The program is in Debug Mode (EWS debugging).
C Program Type, 0: Motion program
D Start Request History
No System Work Available Error
E
Execution Scan Error
F Main Program Number Limit Exceeded Error
Note: If a program alarm occurs, motion program error information is provided in the Motion Alarm Dialog Box and
in the S registers.
Contents
Motion Program Status Flags
Motion Program Control Signals
Interpolation Override
System Work Number
Status
4.1 User Program Types and Execution Timing
4.1.2 Motion Programs
First work register
(M register or D register)
4
4-15