5
Outline of Motion Control Systems
5.2.4
Motion Programs and MSEE and S Registers
5-12
Ladder program MSEE commands cannot call motion program subroutines (MPS
). Subrou-
tines can be called only from motion programs (MPM
and MPS
).
The same motion program or same subroutine can be called only once in one scan.
5.2.4 Motion Programs and MSEE and S Registers
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.
For the meaning of register numbers and how to interpret them, refer to 5.3 Registers on
page 5-21.
VEL [a1] 5000 [b1]..
FMX T10000000;
IAC T25;
IDC T30;
MOV [a1] 300. [b1]..
MVS [a1] 200. [b1]..
.
.
.
.
DAxxxxx
DAxxxxx+1
DAxxxxx+2
DAxxxxx+3
(x: hexadecimal number)
END
DWG.H
DEND
.
.
.
.
.
.
.
.
Status
Control signal
Interpolation override
System work number
MSEE
work registers
address
External ladder control
signal
• Operation start
• Pause
• Stop, etc.
Ladder program for
motion program control
Motion
program No.
MPM001
Execution control using
motion management function
Ladder program
Motion program
MSEE work registers
leading address
Calling MSEE work
registers
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