Yaskawa MP900 Series Motion Programming Manual - Manual (Page 205)

Motion Program Alarm List
B -2
B.1 Motion Program Alarm Storage Location
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MP900-series Machine Controllers
Motion program alarms stored in the alarm output register set by the Group Definition settings
are displayed. Set the leading register number for outputting alarms. The number of continuous
alarm registers containing alarms starting from the set leading register will be used as the number
of parallel processes used for the motions programs in the group. For example, if MW00010 is
defined as the leading alarm output register and four parallel processes will be used, then regis-
ters MW00010 to MW00013 will be used in the same order as the number of the parallel process.
The POS command is designated as follows:
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MP2000-series Machine Controllers
In the MP2000-series Machine Controllers, the status of the motion program is reported in the
S registers. The following figure shows the S-registers used by the motion program as well as
details on the work status.
16W
SW4134
1W
SW3200
SW3216
SW3264
SW3322
58W
58W
58W
SW4191
S Registers
Execution program
area
Reserved
Work 1 status
Work 2 status
Work 16 status
Work Program Numbers
Work 1 program number
Work 2 program number
Work 16 program number
Number of motion program in operation
The motion programs reported here use the
corresponding work status words.
Work 1 program status
Work 1 program control
signals
Indicate the status flags and control signals
for the motion program that is using work 1
.
Parallel 1 program number
Parallel 1 program block
number
Parallel 1 program error
Parallel 2 program error
Parallel 2 program block
number
Parallel 2 program error
Indicate the 8 parallel sets of data for the mo-
tion program that is using work 1. Indicate the
last nested program number, executed block,
and error code.
Parallel 8 program number
Parallel 8 program block
Parallel 8 program error
Axis 01 current position
Indicate the current positions of the logical
axes defined for the group which includes the
motion program that is using work 1.
code
code
code
number
code
Axis 02 current position
Axis 16 current position
1W
1W
1W
1W
1W
1W
1W
1W
1W
1W
1W
1W
1W
1W
2W
2W
2W
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