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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