Yaskawa MP900 Series Motion Programming Manual - Manual (Page 206)

B.1 Motion Program Alarm Storage Location
B -3
1. Work Status used by the Motion Program
The main motion program uses a single work status area during operation. The motion pro-
gram alarms of the motion program and the current positions of the logical axes are dis-
played in the work status area.
D Procedure when Specifying the Work Status Area
To specify the work status area used by the motion program, turn ON bit 13 (System work
number setting) in the second word of the MSEE instruction’s work registers. When the Sys-
tem work number setting is turned ON, the motion program will used the work status area
set in the fourth word (System work number) of the MSEE instruction’s work registers. If
the specified system work number is out of range or already allocated, bit 14 (“No system
work” error) will be turned ON in the first word of the work registers.
D Procedure when Not Specifying the Work Status Area
The work status areas are used in the order that the motion programs are started, beginning
from the work 1 status. When two or more motion programs are started in the same scan, the
work status areas are used in the order that the MSEE instructions are called. Each work status
area is released when the corresponding motion program ends.
Follow the steps outlined below to view the motion program alarms of the motion program
and the current positions of the logical axes.
Check the execution program area (SW3200 to SW3215) to
determine the work status area being used by the motion
programs currently being executed.
Check the desired data such as the motion program alarms
of the motion program.
2. Executing Multiple Motion Programs
In the following example, motion program MPM001 is started after motion program
MPM003 is started.
MSEE MPM003 DA00000
MOV [A1] 10000
MOV [A1] 1000
16W
58W
58W
1
3
Ladder program
Motion program (MPM003)
Motion program (MPM001)
Execution program
Reserved
Work 1 status
Work 2 status
Work 1 program number
Work 2 program number
The work status of
MPM003 is displayed.
The work status of
MPM001 is displayed.
MSEE MPM003 DA00000
When MPM003 has been started, the number 3 is reported to the work 1 program number
(SW3200) in the execution program area and MPM003 uses the work 1 status area. The motion
program alarms and current positions of the logical axes can be checked by reading the work 1
status information.
When MPM001 is started after MPM003 has started, the number 1 is reported to the work 2 pro-
gram number (SW3201) in the execution program area and MPM001 uses the work 2 status area.
The motion program alarms and current positions of the logical axes can be checked by reading
the work 2 status information.
B
A EXAMPLE "