Yaskawa MP900 Series Motion Programming Manual - Manual (Page 31)

1.1 Motion Programming
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1. Commands not completely processed in one scan
MOV, MVS, MCW/MCC, ZRN, SKP, MVT, EXM, ACC, DCC, SCC, PFN, VEL, INP, TIM, IOW
2. Commands completely processed in one scan
ABS, INC, IFP, PLN, IAC, IDC, FMX, POS, PLD, MSEE, END, RET, IF, WHILE, PFORK, SFORK,
all sequence commands
Restrictions on the Motion Program
1. More than one motion program with the same number cannot be called with an MSEE command.
2. An MPSjjj subroutine cannot be called with a ladder-logic MSEE command. The subroutine can be
called only from the motion program (MPMjjj or MPSjjj).
3. One same subroutine cannot be called from two different locations at the same time.
J Work Registers
The work registers are required to set or monitor the status of the motion program. The configu-
ration of motion program work register is shown in the following table.
1st word Motion-program status flag
2nd word Motion-program control signal
3rd word Interpolation override
4th word System work number
Note The third and fourth words are only for MP2000-series Machine Controllers.
J Motion Program Control Signals
A motion-program control signal, such as “Program run start request” or “Program stop request”,
must be input to execute the motion program that was called from DWG. H with the MSEE com-
mand. The second word in the MSEE work register contains the control signal for the motion
program. The following types of signals are used.
Bit No. Signal Name Signal Type
0 Program run start request Differential or N.O (Normally Open) contact
input
1 Program pause request N.O contact
2 Program stop request N.O contact
3 Program single-block mode selection N.O contact
4 Request for program single-block start Differential or N.O contact input
5 Alarm reset request N.O contact
6 Request for start of program continuous run Differential or N.O contact input (only for
MP2000-series Machine Controllers)
8 Skip 1 information N.O contact
9 Skip 2 information N.O contact
D System work number setting *1 N.O contact (only for MP2000-series Ma-
chine Controllers)
E Interpolation override selection *2 N.O contact (only for MP2000-series Ma-
chine Controllers)
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IMPORTANT
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