Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 74)

6 Variables (Registers)
6.1.1 Variable Types
6-2
6.1 Overview
This section summarizes the variables used in motion programs.
6.1.1 Variable Types
In a motion program and a sequence program, variables can be coded in place of numeric values. When variables
are used in actual operations, the numeric values stored in the variable area are retrieved.
(1) Types of Variable (Registers)
The seven types of register shown in the following table can be used as variables in a motion program and a
sequence program. S, M, I, O, and C registers are global variables that can be used by both motion programs and
sequence programs. D registers are local variables that are defined for each program and cannot be used by other
programs.
The # registers cannot be used in motion programs or sequence programs. If a # register is used in a motion
program or sequence program, a syntax error will occur when saving the program.
Table 6.1 Types of Variable
Type Name Designation Method Range Description
Character-
istic
S System Registers SB,SW,SL,SFnnnnn
SW00000
to SW08191
Registers that can be referenced by the sys-
tem.
Register number nnnn is a decimal expres-
sion.
Common to
programs
M Data Registers MB,MW,ML,MFnnnnn
MW00000
to MW65534
Registers common to all programs.
Used as interfaces between programs.
Register number nnnn is a decimal expres-
sion.
I Input Registers IB,IW,IL,IFhhhh
IW0000
to IW7FFF
Registers used for input data.
Register number hhhh is a hexadecimal
expression.
The register numbers 8000 and onward are
used as motion monitoring parameters.
O Output Registers OB,OW,OL,OFhhhh
OW0000
to OW7FFF
Registers used for output data.
Register number hhhh is a hexadecimal
expression.
The register numbers 8000 and onward are
used as motion setting parameters.
C
Constant
Registers
CB,CW,CL,CFnnnnn
CW00000
to CW16383
Registers that can be referenced only by a
program.
Register number nnnn is a decimal expres-
sion.
D D Registers DB,DW,DL,DFnnnnn
DW00000
to DW16383
Internal registers unique to each program.
Can only be used by the corresponding pro-
gram.
The actual range to be used is specified by
the user on the MPE720.
Register number nnnn is a decimal expres-
sion.
Unique to a
program
IMPORTANT