YASKAWA MP2300 - Motion Programs and MSEE and S Registers

5
Outline of Motion Control Systems
5.2.4
Motion Programs and MSEE and S Registers
5-12
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 DA

(

: hexadecimal number) leading address. This data is called every time the
MSEE command is executed in an H drawing. Motion program execution information can be monitored in the S regis-
ters.
The following figure shows the method for executing motion programs. MSEE register details and S register descrip-
tions 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.
( 1 ) Motion Program Status Bits (DA

+0)
The leading word (DA

+0) in the MSEE work registers contains the motion program status bits for monitor-
ing execution status of the motion program.
The following table shows details of status bit.

Alarm details are saved in the S registers.
VEL [a1] 5000 [b1]..
FMX T10000000;
IAC T25;
IDC T30;
MOV [a1] 300. [b1]..
MVS [a1] 200. [b1]..
.
.
.
.
DA
DA+1
DA+2
DA+3
(: hexadecimal number)
END
DWG.H
DEND
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.
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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
Motion program
MSEE work registers
leading address
Calling MSEE work
registers
Bit No. Status
0 Program running
1 Program paused
2 Program stopped by stop request (used by system)
3 (Used by system)
4 Single program block operation stopped
8 Program alarm
9 Stopped by brake point
B In debug mode (EWS debugging operation)
D Start request signal history
E No system work error
F Main program number exceeded error