Home> working registers – Yaskawa MP2000 User Manual
Page 67
TECHNICAL NOTE
<HOME> Working Registers
This table outlines the data in the ten registers used by the Home function block. There
is not usually any need for the user to access any of these bits directly.
Register No
TYPE
Name
Content
AW00000
Bit 0
IN
ECECUTE｡
EXECUTE input (XB000000)
Bit 1
IN
REVERSE
REVERSE input (XB000001)
Bit 2
IN
INPUT
INPUT signal (XB000002)
Bit 3
IN
Reservation
Reserved
Bit 4
IN
firstPass
Single shot input of ENABLE input to initialize axis and block
Bit 5
Working
inrngAxis
Goes high for one scan if Axis input is in range.
Bit 6
Working
inrngAxis
Goes high If the RDA register is not set appropriately.
Bit 7
Working
cmndErr
Another block controlled the axis.
Bit 8
Working
ErrSTOP
Servo not enabled when motion is commanded
Bit 9
OUT
Blkfault
Directly controls YB000002 (ERROR Output)
Bit C
Working
OTalarm
Overtravel alarm
Bit D
Working
Vel_Err
Either Rapid feed speed, Approach speed or Creep speed is
out of range.
Bit F
Working
TimeOver
Time expired will set ERROR output
AW00001
Bit 1
OUT
RUNNING
Directly controls YB000000 (RUNNING Output)
Bit 2
OUT
COMPLETE
Directly controls YB000001 (DONE Output)
AW00002
Working
Reserved
Reserved
AW00003
Working
Reserved
Reserved
AW00004
Working
Timer
Timer for limiting home time before ERROR. Tied to TIMELIM
input (XW00003).
AL00005
Working
Reserved
Reserved
AW00007
Working
Reserved
Reserved
AW00008
Working
Reserved
Reserved
AW00009
Working
rdaMult
Value for address offset to locate proper RDA
AW00010
Working
Revision
Revision Level of the function block.
File: MP2000_IndividualFunctionDocument_RevC 67/168
Doc Number: eng.MCD.05.101
11/17/2005