Yaskawa MP940 - Manual (Page 71)

Basic System Operation
3.4.3 Motion Programming
3-24
The following illustration shows the method for executing a motion program.
„ Motion Program Status Flags
The first word of a MSEE work register consists of motion program status flags, which indi-
cate the status of motion program execution. The following table shows the status flags.
Bit Status
b0: Program is running.
b1: Program is temporarily stopped.
b2: (Reserved by the system)
b3: (Reserved by the system)
b4: Program is being debugged.
b8: Program alarm has been generated.
bB: Debugging mode (EWS debugging)
bE: Main program duplication error
bF: Main program number limit error
DWG.H
MSEE MPM001
DA00000
・
・
・
・
・
・
・
・
・
・
DEND
VEL [a1]5000
FMX TI0000000;
IAC T25;
IDC T30;
MOV [a1]300.
MVS [a1]200.
・
・
・
END
DWG.H
External control sig-
nals
Operation start
Pause
Stop
Motion management functions
Program operation start
Program pause
Program stop
Program con-
trol signals
MSEE work register
Status
Control
signals
Ladder logic pro-
gram for motion
program control
MSEE work register
address
Motion pro-
gram number
Ladder logic program Motion program