Yaskawa MP2000 - Manual (Page 84)

TECHNICAL NOTE
<MOVEABS> Input and Output Register Map
Output Registers
The following registers are used as outputs from the function block. They can be
monitored by the LadderWorks program to check the execution of the function.
OUTPUT TYPE Content
RUNNING Bit High while block has control and move is in progress.
DONE Bit Indicates Move Complete(IB**0C1=ON). When the
servo has reached target position within “In-position”
window(target position ± positioning completed width),
this output bit turns ON.
ERROR Bit Latches high if any error occurs in block (see table
below) or on the servo axis (see IL**04). This is Reset
if EXECUTE bit goes low.
DISTGONE Long Distance in counts axis has traveled in this move, while
this block has control.
Input Registers
The following registers are used as inputs to the function block. They select the options
and define the parameters that the user needs to make the function work as necessary
Input Type Description Range and state
EXECUTE Bit Block enable – Block cannot
execute unless this is TRUE Rising edge initiates block
TRUE – Block enable
FALSE – Block disable, set all
outputs to zero and off
AXIS Word Axis number related to the block 1～16
DIRECTIO Word Direction to travel 1 = Positive direction
2 = Negative direction
*3 = Continue in current direction
*4 = shortest path
*: Only can be used if axis is in
rotary mode.
POSITION Long Absolute position in counts for
axis to go to. -2147483648 to 2147483647
[0 to 2147483647 for rotary axis]
DATA17W Address Address of the first working
register.
Seventeen words of register space
are used by this function.
File: MP2000_IndividualFunctionDocument_RevC 84/168
Doc Number: eng.MCD.05.101
11/17/2005