Yaskawa MP2000 - Manual (Page 39)

TECHNICAL NOTE
File: MP2000_IndividualFunctionDocument_RevC 39/168
Doc Number:
EF.MCD.05.101 11/17/2005
<GEAR> Working Registers
This table outlines the data in the thirty-four registers used by the Gear function block.
There is not usually any need for the user to access any of these registers directly.
Register No TYPE Name Content
AW00000
Bit 0 IN execute EXECUTE input (XB000000)
Bit 1 IN gearin GEARIN input (XB000001)
Bit 2 IN gearout GEAROUT input (XB000002)
Bit 3 Working notTracking
notTracking bit goes high when commanded speed exceeds
max. allowed
Bit 4 Working inrng1
Goes high while EXECUTE input is high and master/slave
MSTR-SLV value is in range
Bit 5 Working inrng2
Goes high while EXECUTE input is high and RATIO-D value is
in range
Bit 6 Working match
High when previous scanned command counts equal counts
moved by slave.
Bit 7 OUT gearing Directly controls YB000000 (RUNNING Output)
Bit 8 Working oneshot8 Reserved.
Bit 9 OUT error Directly controls YB000002 (ERROR Output)
Bit A Working oneshotA Rising edge of GEARIN (AB000001)
Bit B Working firstPass
On for single scan to initiate gearing if all conditions are met.
Sets OW**20=4
Bit C Working dirError Indicates BSVON has not enabled axis to run in that direction
Bit E Working cmndErr One shot Goes high when another block takes control away
Bit F Working inrtrack On if commanded move is within speed limits
AL00004 Working Master_Difer Change in Master counts over one scan.
AL00006 Working ModVal Reserved.
AL00010 Working oldoffset Value of offset from RDA at last scan
AL00012 Working delta_Offset Change in offset (AL0010) since last scan
AL00014 Working LastScan Value of RAW-DATA (XL00004) at last scan
AL00016 Working Prev_Move Move commanded last scan
AL00022 Working slv_oldPos Store Target position (IL**10)
AL00024 Working Max_Chnge
Maximum count change per scan based on Max
speed limit in RDA
AL00026 Working Max_limit Positive max. count per scan allowed.
AL00028 Working Min_Limit Negative max. count per scan allowed.
AW00030
Bit 0 Working stopping Goes high while in stopping mode (OW**08 = 7)
Bit 1 Working stopped
Goes high for one scan once axis has stopped moving (set
OW**08 = 0)
Bit 2 Working speedset
Goes high for falling edge of EXECUTE (set OW**08 = 7) and
(set OL**10 = current speed).
Bit 3 Working onePass Goes High on rising edge of Execute for one scan
Bit 4 Working axisInErr Axis number out of range