YASKAWA MP210 Series User Manual page 197

• Details of Program Information Used by Work n
Program information used by work n
+0
Program status
+1
Program control signal
+2
Parallel 0 information
+5
Parallel 1 information
+8
Parallel 2 information
+11
Parallel 3 information
+14
Parallel 4 information
+17
Parallel 5 information
+20
Parallel 6 information
+23
Parallel 7 information
+26
Logical axis #1 program current position
+28
Logical axis #2 program current position
+30
Logical axis #3 program current position
+32
Logical axis #4 program current position
+34
Logical axis #5 program current position
+36
Logical axis #6 program current position
+38
Logical axis #7 program current position
+40
Logical axis #8 program current position
+42
Logical axis #9 program current position
+44
Logical axis #10 program current position
+46
Logical axis #11 program current position
+48
Logical axis #12 program current position
+50
Logical axis #13 program current position
+52
Logical axis #14 program current position
+54
Logical axis #15 program current position
+56
Logical axis #16 program current position
The monitoring method differs depending on the setting for bit D of the motion program control signal (system
work number setting).
(a) When Bit D of Motion Program Control Signal (System Work Number Setting) is ON
The execution information is reported to the "Program information used by work n" registers (SW03264 to
SW04133).
For example, when the system work number is 1, the motion program execution information can be moni-
tored using SW03246 to SW03321 "Program information used by work 1."
(b) When Bit D of Motion Program Control Signal (System Work Number Setting) is OFF
The system automatically determines the system work to be used. This means that the work being used can
be checked under "Executing program number" (SW03200 to SW03215).
For example, if the motion program to be monitored is MPM001, and SW03202 is 001, the number of the
work being used is 3. This means that the execution information for motion program MPM001 can be moni-
tored using "Program information used by work 3" (SW03380 to SW03437).
Executing program number
3W
3W
3W
3W
3W
3W
3W
3W
2W
2W
2W
2W
2W
2W
2W
2W
2W
2W
2W
2W
2W
2W
2W
2W
5.2 User Programs
Executing block number
Error code
5
5-19