Yaskawa MP2000 - Manual (Page 128)

TECHNICAL NOTE
<DEF_POS> Working Registers
This table outlines the data in the ten registers used by the function block. There is not
usually any need for the user to access any of these bits directly.
Register No. Type Name Description
AW00000 Working_Register0
Bit 0 IN Execute EXECUTE input (XB000000)
Bit 1 Working Rotary_ReqPosOK
Bit 2 Working FirstFB_Scan One shot on rising edge of Execute input to set axis data.
Bit 3 Working LastFBScan One shot on falling edge of Execute input to set axis data.
Bit 4 Working Reserved
Bit 5 Working Reserved
Bit 6 IN AbsEnc_Present ABSENC input (XB000001)
Bit 7 Working IN_RDA_RANGE
Goes High when Motion Command Code (MCC) Response
Register (IWxx08) is equal to 0, “NOP” (No Operation) is true
Bit 8 Working No_Alarms Goes High when there are no Alarms
Bit 9 Working No_MCC_Requested
Goes High when Motion Command Code (MCC) Response
Register (IWxx08) is equal to 0, “NOP” (No Operation) is true
Bit A Working No_MCC_InQue
Goes High when Motion Command Code (MCC) Request
Register (OWxx08) is equal to 0, “NOP” (No Operation) is true
Bit B Working No_OpInQue
Goes High when the axis is NOT BUSY, NOT IN HOLD And
NOT FAIED
Bit C Working Allow_DefPosExe
This bit is true if the conditions are correct to allow a define
position operation.
Bit D Working Exec_DefPos Goes High when the actual Define position operation happens.
Bit E Working AxisIsRotary This is TRUE if the Axis is defined as Rotary in the RDA
Bit F Working Set_OffsetToZero
This bit is only true on power up If the “ABSENC” input is
FALSE.
AW00001 Working Working_Register1
Bit 0 OUT Op_Done DONE Output (YB000000)
Bit 1 OUT OpError ERROR Output (YB000002)
Bit 2 Working RotaryReqPos_InRange
Result of Range Check on “REPOSIT” Input value. Only used if
axis is rotary.
Bit 3 OUT OpRunning RUNNING Output (YB000001)
AW00002 Working rdaMult Value for address offset to locate proper RDA
AW00003 Working Working_Register3 Unused (For expansion)
AL00004 IN Requested_Position The “REQPOSIT” input that the axis position will be set to.
AW00006 Working Work_Register6 Unused (For expansion)
AW00007 Working Working_Regester7 Unused (For expansion)
AW00008 Working Working_Regester8 Unused (For expansion)
AW00009 Working Revision Revision Level of the function block.
File: MP2000_IndividualFunctionDocument_RevC 128/168
Doc Number: eng.MCD.05.101
11/17/2005