YASKAWA MP2100 Series User Manual page 133

6 Basic System Operation
6.3.3 Motion Program
(4) Motion Program Status
The first word of the MSEE work registers consists of motion program status, which indicate the status of
motion program execution. The following table shows the status.
Bit No.
0
1
2
3
4
8
9
B
D
E
F
Note: When alarms occur, the details are reflected in the system registers.
(5) Interpolation Override
The override for execution of interpolation commands in the motion program is written to the third word of
MSEE work registers.
Unit: 1 = 0.01%
The interpolation override is enabled only if bit E in the motion program control signals (Interpolation Override
Setting) is set to ON.
(6) System Work Numbers
System work numbers used for executing motion programs are set in the fourth word of MSEE work registers.
• Range: 1 to 16
System work numbers are enabled only if bit D in the motion program control signals (System Work Number
Setting) is set to ON. If a set work number is out of range, or if the specified work number is being used, bit E in
the motion control status ("No System Work" Error) turns ON.
(7) Monitoring Motion Program Execution Information with System Registers
Execution information for motion programs can be monitored using the system registers (SW03200 to
SW04191). The monitor method depends on the setting of bit D in the motion program control signals (System
Work Number Setting).
(a) Bit D in the Motion Program Control Signals (System Work Number Setting) = ON
Execution information is stored in Work n Program Information, where n is the System Work Number speci-
fied in the fourth word of the MSEE registers.
For example, if the System Work Number is 1, motion program execution information can be monitored in
SW03264 to SW03321 (Work 1 Program Information).
(b) Bit D in the Motion Program Control Signals (System Work Number Setting) = OFF
The system work number that is used is automatically decided by the system. For this reason, the work num-
ber that is being used can be confirmed by referring to the Executing Program Number in SW03200 to
SW03215.
For example, if the motion program to be monitored is MPM001 and SW03202 is 001, then the work number
being used is 3 and so the execution information of motion program MPM001 can be monitored with Work 3
Program Information in SW03380 to SW03437.
6-16
Program is running.
Program is pausing.
Program stopped with program stop request (reserved by the system)
(Reserved by the system)
Program stopped under single block mode.
Program alarm has been generated.
Stopped at break point.
Debugging mode (EWS debugging)
Start request signal history
"No system work" error
Main program number limit error
Status