Yaskawa MP920 User's Manual Design - Manual (Page 93)

3.4 User Programs
3-19
3
3. The following illustration shows the method of executing a motion program.
„ Motion Program Status Flags
The first word of the MSEE work registers consists of motion program status flags, which
indicate 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.
b9: Program is stopped because of MPE720 debugging
mode.
bB: Debugging mode (EWS debugging)
bE: Main program duplication error
bF: Main program number limit error
DEND
MSEE work register
Status
Control signals
External control signals
Operation start
Pause
Stop Program operation start
Program pause
Program stop
Program control
signals
DWG.H
Ladder logic program
for motion program
control
MSEE MPM001 DA00000
END
MPM001
.
.
.
.
VEL [a1]5000 [b1]..
FMX T10000000;
IAC T25;
IDC T30;
MOV [a1]300. [b1]..
MVS [a1]200. [b1]..
Ladder logic program Motion program
Motion management functions
Motion program
number MSEE work
register address