Yaskawa MP2000 - Manual (Page 25)

TECHNICAL NOTE
File: MP2000_IndividualFunctionDocument_RevC 25/168
Doc Number:
EF.MCD.05.101 11/17/2005
<CAMOFFST> Working Register
This table outlines the data in the eight 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
Bit 0 IN
Execute EXECUTE input (XB000000)
Bit 1 IN Distmode DST-TIME input (XB000001)
Bit 3
Working
Zerodiv
If duration is set to zero for one scan change, this turns on for
one scan (one-shot)
Bit 6
Working
distShft_init
High for one scan to initialize for master position shifting if first
pass is high and DISTMODE is high. To initialize for master
position control of offset.
Bit 7 OUT Rining Directly controls YB000000 (RUNNING Output)
Bit 8 OUT Done Directly controls YB000001 (DONE Output)
Bit 9 OUT
Eeror Directly controls YB000002 (ERROR Output)
Bit A OUT OneshotA Tied to rising edge of EXECUTE input (AB000000)
Bit B Working FirstPass High for first scan of EXECUTE being high
Bit C Working
OneshotC One shot coil for resetting outputs. Controlled by (AB00000A)
Bit D
Working
timeshft_init
High for one scan to initialize for time based shifting if first pass
is high and DISTMODE is low.
Bit E
Working
Inrng1
On if EXECUTE is on and MSTSLAVE (XW000001) value is in
range
AW00001
Working scans_per_s
hift Number of scannings necessary to complete shift
of base at time
AW00002 Working iStore Storage of I
AW00003 Working mstrSlv MSTSLAVE input (XW000001) -1
AL00004
Working maxShift_sc
an Maximum counts allowed to shift per scan on a
time based scan.
AL00006 Working posLAUlim Positive definite of maxShift_scan
AL00008 Working negLAUlim Negative value of maxShift_scan
AL00010
Working
total_Shifted
Amount CAM Offset has changed during the
execution of the block.
AL00012
Working
shiftvalue
Value to change the RDA (ML56**4) CAM offset
for that scan.
AL00014
Working
startmaster
Value of Master counter at start of block for
position based move.
AL00016
Working
masterDiff
How much the master has moved since the
execution of the block.
AL00018
Working
desired_shift
Total amount needed to be shifted for the master
position mode.
AL00020 Working timemod Reserved.
AW00022 Working Revision Revision Level of the function block.