Yaskawa MP2000 Series: User's Manual for Motion Programming User Manual

Page 65

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4.4 Advanced Programming

4-13

4

Motion Programs

4.4.3 Monitor the Motion Program Execution Information Using S Register

Using S register (SW03200 to SW04191) allows you to monitor the motion program execution information.
The way to monitor the execution information for a motion program registered in the M-EXECUTOR program
execution definition differs from that for a motion program referenced by an MSEE command from a ladder pro-
gram.
The way to monitor it in each case is shown as follows:

(1) A Motion Program Referenced by an MSEE Command from a Ladder Program

When a motion program is referenced by an MSEE command from a ladder program, the way differs, depending
on the “Bit D” setting (system work number setting) of the motion program control signal, as follows:

(a) The motion program control signal “Bit D, System Work Number Setting” = ON

The execution information is reported to “Program Information Using Work n” register (SW03264 to
SW04191). For example, when “System Work Number”=1, the motion program execution information can
be monitored in SW03264 to SW03321 “Program Information Using Work 1.”

(b) The motion program control signal “Bit D, System Work Number Setting” = OFF

The used system work is automatically decided by system. Thus, to check which work is used, refer to “Run-
ning Program Number” (= SW03200 to SW03215). For example, when you want to monitor the motion pro-
gram MPM001 and SW03202 = 1, as used the work number=3, the execution information for the motion
program MPM001 can be monitored in “Program Information Using Work 3” (=SW03380 to SW03437).

(2) A Motion Program Registered in the M-EXECUTOR Program Execution Definition

For motion programs registered in the Program definition tab page of the M-EXECUTOR, the system work
numbers to be used are the same as for the Program execution registry number registered in the M-EXECUTOR
Module.
For example, a motion program is registered as “Definition No.” = 3, the used system work number is “System
Work” = 3. In this case, the execution information for the motion program can be monitored in “Program Infor-
mation Using Work 3” (= SW03380 to SW03437).

For more information on the register area of the motion program execution information, refer to the subsequent
pages.

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