Motion Programs And Msee And S Registers - YASKAWA JEPMC-MP2300-Y Series User Manual

5 Outline of Motion Control Systems

5.2.4 Motion Programs and MSEE and S Registers

5.2.4 Motion Programs and MSEE and S Registers
External ladder control
signal
• Operation start
• Pause
• Stop, etc.
DWG.H
Ladder program for
motion program control
DEND
Ladder program
5-12
Ladder program MSEE commands cannot call motion program subroutines (MPS
tines can be called only from motion programs (MPM
The same motion program or same subroutine can be called only once in one scan.
Motion program status, control signal, interpolation override, and system work number data is saved
in four MSEE registers (4 words) with a DAxxxx (x: hexadecimal number) leading address. This
data is called every time the MSEE command is executed in an H drawing. Motion program execu-
tion 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.
MSEE
work registers
address
DAxxxxx
DAxxxxx+1
DAxxxxx+2
DAxxxxx+3
(x: hexadecimal number)
Calling MSEE work
Motion
program No.
.
MSEE work registers
.
.
leading address
.
.
.
.
.
For the meaning of register numbers and how to interpret them, refer to 5.3 Registers on
page 5-21.
Status
Control signal
Interpolation override
System work number
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
and MPS ).
MPM001
T25;
T30;
.
.
.
.
). Subrou-