3 work registers – Yaskawa MP2000 Series: User's Manual for Motion Programming User Manual

Page 58

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4 Motion Programs

4.3.3 Work Registers

4-6

4.3.3 Work Registers

When registering motion programs as described in 4.3.2 Registering the Program Execution, a work register to
control and monitor the program execution is assigned for each registered program. The work registers are used
to send instructions to the motion programs from the motion program control program, and to get the motion pro-
gram status.

(1) For a Motion Program Called from the Ladder Program Using an MSEE Command

Four words of the register (MA

or DA

) that are specified for Data of the MSEE command are

used as the work register.

(2) For a Motion Program Registered in an M-EXECUTOR Program Execution Definition

The M-EXECUTOR control registers are used as the work registers.
The M-EXECUTOR control registers are automatically defined by the system.

The details of the work registers are described from the next page.

1st word
2nd word
3rd word
4th word

DW00000
DW00001
DW00002
DW00003

Status flag

Control signal

Override for interpolation

System work number

Register No.

in the Example

Contents

Work Register

Output

Input
Input
Input

I/O

Status

Control signal

Override

IW0C00

OW0C01
OW0C02

Status flag

Control signal

Override for interpolation

Work Registers

M-EXECUTORޓޓޓޓ

ޓޓ

Control Registers)

Register No.

in the Example

Contents

Output

Input
Input

I/O

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