YASKAWA MP3000 Series - Page 158

4.1 User Program Types and Execution Timing
4.1.3 Sequence Programs
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4
Creating User Programs
Specifying Sequence Programs
Sequence programs must be specified directly. Indirect designations cannot be used.
Specify the program number of the sequence program to execute (SPM).
Work Registers
Work registers are used to monitor sequence programs.
The work registers have Status Flags inside the M-EXECUTOR control registers, in the same
way as motion programs that are registered in the M-EXECUTOR.
 Sequence Program Status Flags
The Sequence Program Status Flags give the execution condition of the sequence program.
The following table describes the meanings of the Status Flags.
Bit No. Status
0 Program is being executed.
1 Reserved for system.
2 Reserved for system.
3 Reserved for system.
4 Reserved for system.
5 Reserved for system.
6 Reserved for system.
7 Reserved for system.
8 There is a program alarm.
9 Execution is stopped at a breakpoint.
A Reserved for system.
B The program is in Debug Mode (EWS debugging).
C Program Type, 1: Sequence program
D Start Request History
E Reserved for system.
F Reserved for system.
Sequence Program Alarms
If an error is detected when a sequence subprogram is called with an SSEE instruction, bit 8
(Program Alarm) turns ON. When the error is removed, this bit turns OFF.
The following errors can occur.
• The called program is not registered.
• The called program is not a sequence program.
• The called program is not a subprogram (a main program was called).
• Called Program Number Limit Exceeded Error
• Too Many Nesting Levels Error
SPM001
IF MW000<32767;
MW000=MW000+1;
ELSE;
MW000;
IEND;
M-EXECUTOR Program Execution Denitions
Sequence Program
Note