Yaskawa MP900 Series Ladder Programming Manual Manual de usuario Pagina 391
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A.12 Motion Program Information
A-17
System Registers
AppA
A.12 Motion Program Information
( 1 ) System Work Numbers 1 to 8
System Work Number
System
Work 1
System
Work 2
System
Work 3
System
Work 4
System
Work 5
System
Work 6
System
Work 7
System
Work 8
Executing Main Program No. SW03200 SW03201 SW03202 SW03203 SW03204 SW03205 SW03206 SW03207
Status SW03264 SW03322 SW03380 SW03438 SW03496 SW03554 SW03612 SW03670
Control Signals SW03265 SW03323 SW03381 SW03439 SW03497 SW03555 SW03613 SW03671
Fork 0
Program Number SW03266 SW03324 SW03382 SW03440 SW03498 SW03556 SW03614 SW03672
Block Number SW03267 SW03325 SW03383 SW03441 SW03499 SW03557 SW03615 SW03673
Alarm Code SW03268 SW03326 SW03384 SW03442 SW03500 SW03558 SW03616 SW03674
Fork 1
Program Number SW03269 SW03327 SW03385 SW03443 SW03501 SW03559 SW03617 SW03675
Block Number SW03270 SW03328 SW03386 SW03444 SW03502 SW03560 SW03618 SW03676
Alarm Code SW03271 SW03329 SW03387 SW03445 SW03503 SW03561 SW03619 SW03677
Fork 2
Program Number SW03272 SW03330 SW03388 SW03446 SW03504 SW03562 SW03620 SW03678
Block Number SW03273 SW03331 SW03389 SW03447 SW03505 SW03563 SW03621 SW03679
Alarm Code SW03274 SW03332 SW03390 SW03448 SW03506 SW03564 SW03622 SW03680
Fork 3
Program Number SW03275 SW03333 SW03391 SW03449 SW03507 SW03565 SW03623 SW03681
Block Number SW03276 SW03334 SW03392 SW03450 SW03508 SW03566 SW03624 SW03682
Alarm Code SW03277 SW03335 SW03393 SW03451 SW03509 SW03567 SW03625 SW03683
Fork 4
Program Number SW03278 SW03336 SW03394 SW03452 SW03510 SW03568 SW03626 SW03684
Block Number SW03279 SW03337 SW03395 SW03453 SW03511 SW03569 SW03627 SW03685
Alarm Code SW03280 SW03338 SW03396 SW03454 SW03512 SW03570 SW03628 SW03686
Fork 5
Program Number SW03281 SW03339 SW03397 SW03455 SW03513 SW03571 SW03629 SW03687
Block Number SW03282 SW03340 SW03398 SW03456 SW03514 SW03572 SW03630 SW03688
Alarm Code SW03283 SW03341 SW03399 SW03457 SW03515 SW03573 SW03631 SW03689
Fork 6
Program Number SW03284 SW03342 SW03400 SW03458 SW03516 SW03574 SW03632 SW03690
Block Number SW03285 SW03343 SW03401 SW03459 SW03517 SW03575 SW03633 SW03691
Alarm Code SW03286 SW03344 SW03402 SW03460 SW03518 SW03576 SW03634 SW03692
Fork 7
Program Number SW03287 SW03345 SW03403 SW03461 SW03519 SW03577 SW03635 SW03693
Block Number SW03288 SW03346 SW03404 SW03462 SW03520 SW03578 SW03636 SW03694
Alarm Code SW03289 SW03347 SW03405 SW03463 SW03521 SW03579 SW03637 SW03695
Logical Axis 1 Program Current Position SL03290 SL03348 SL03406 SL03464 SL03522 SL03580 SL03638 SL03696
Logical Axis 2 Program Current Position SL03292 SL03350 SL03408 SL03466 SL03524 SL03582 SL03640 SL03698
Logical Axis 3 Program Current Position SL03294 SL03352 SL03410 SL03468 SL03526 SL03584 SL03642 SL03700
Logical Axis 4 Program Current Position SL03296 SL03354 SL03412 SL03470 SL03528 SL03586 SL03644 SL03702
Logical Axis 5 Program Current Position SL03298 SL03356 SL03414 SL03472 SL03530 SL03588 SL03646 SL03704
Logical Axis 6 Program Current Position SL03300 SL03358 SL03416 SL03474 SL03532 SL03590 SL03648 SL03706
Logical Axis 7 Program Current Position SL03302 SL03360 SL03418 SL03476 SL03534 SL03592 SL03650 SL03708
Logical Axis 8 Program Current Position SL03304 SL03362 SL03420 SL03478 SL03536 SL03594 SL03652 SL03710
Logical Axis 9 Program Current Position SL03306 SL03364 SL03422 SL03480 SL03538 SL03596 SL03654 SL03712
Logical Axis 10 Program Current Position SL03308 SL03366 SL03424 SL03482 SL03540 SL03598 SL03656 SL03714
Logical Axis 11 Program Current Position SL03310 SL03368 SL03426 SL03484 SL03542 SL03600 SL03658 SL03716
Logical Axis 12 Program Current Position S
L0331
2 SL03370 SL03428 SL03486 SL03544 SL03602 SL03660 SL03718
Logical Axis 13 Program Current Position SL03314 SL03372 SL03430 SL03488 SL03546 SL03604 SL03662 SL03720
Logical Axis 14 Program Current Position SL03316 SL03374 SL03432 SL03490 SL03548 SL03606 SL03664 SL03722
Logical Axis 15 Program Current Position SL03318 SL03376 SL03434 SL03492 SL03550 SL03608 SL03666 SL03724
Logical Axis 16 Program Current Position SL03320 SL03378 SL03436 SL03494 SL03552 SL03610 SL03668 SL03726
- USER'S MANUAL 1
- LADDER PROGRAMMING 1
- About this Manual 3
- Using this Manual 3
- MP2000-series Manuals 3
- Related Manuals 4
- Safety Information 6
- Safety Precautions 7
- Warranty 8
- ( 3 ) Suitability for Use 9
- ( 4 ) Specifications Change 9
- Contents 10
- Revision History 15
- Controllers 18
- 1.2.2 Program Modules 19
- SIEP C880732 01) for details 20
- Optional Module 30
- 3.1.4 System Startup 31
- 3.1.5 Creating a Project 32
- 2. Click the OK Button 33
- Right-click 34
- Drag and drop 34
- IMPORTANT 35
- Double-click 38
- Enter “MB000000.” 38
- 2. Click the Start Button 41
- Programming 42
- 4.1 Ladder Program Editor 43
- 4.2 Ladder Drawings 44
- 4.3 User Functions 48
- Enter “FUNC01.” 50
- 4.4 Registers (Variables) 54
- 4.4.2 Register Types 55
- ( 2 ) Local Registers 56
- 4.4.3 Data Types 58
- 4.4.4 Index Registers (i, j) 60
- 4.5 Table Data 62
- 4.5.2 Creating Table Data 63
- 4.6 Transferring Data 64
- 4.8 Advanced Programming 66
- 4.8.2 C-language Programs 67
- 4.8.3 Security 68
- Project Password Setting 68
- Program Password Setting 68
- Online Security Setting 68
- 4.8.4 Tracing 69
- Realtime Tracing 69
- Data Tracing 69
- XY Tracing 69
- 5.2.1 NO Contact (NOC) 74
- 5.2.2 NC Contact (NCC) 75
- 5.2.9 Coil (COIL) 88
- 5.2.10 Set Coil (S-COIL) 89
- 5.2.11 Reset Coil (R-COIL) 90
- 5.3.1 Store (STORE) 91
- 5.3.2 Add (ADD (+)) 93
- 5.3.4 Subtract (SUB (−)) 97
- ( 3 ) Programming Examples 100
- 5.3.6 Multiply (MUL (x)) 101
- Instructions 102
- 5.3.7 Divide (DIV (÷)) 103
- ( 1 ) Operation 105
- ( 2 ) Format 105
- 5.3.9 Real Remainder (REM) 107
- Condition n 107
- Key entry: INC 109
- 5.3.11 Decrement (DEC) 111
- Output Data Behavior 111
- 5.3.12 Add Time (TMADD) 113
- ( 3 ) Programming Example 114
- 5.3.13 Subtract Time (TMSUB) 115
- 5.3.14 Spend Time (SPEND) 117
- 5.3.15 Invert Sign (INV) 120
- 5.3.17 Absolute Value (ABS) 122
- 5.3.19 BCD Conversion (BCD) 124
- 5.4.1 Inclusive AND (AND) 132
- 5.4.2 Inclusive OR (OR) 134
- 5.4.3 Exclusive OR (XOR) 136
- 5.4.4 Less Than (<) 138
- Input data AInput data B 139
- Key entry: <= 139
- 5.4.6 Equal (=) 140
- 5.4.7 Not Equal (≠) 141
- Key entry: > 143
- 5.4.10 Range Check (RCHK) 144
- Work Register Configuration 147
- Parameter Table Configuration 151
- First address of 153
- ( 4 ) Additional Information 159
- Variable > Maximum value? 160
- 5.6.1 Square Root (SQRT) 168
- 5.6.2 Sine (SIN) 170
- Input data 172
- Output data 172
- 5.6.5 Arc Sine (ASIN) 175
- Input Data Range 175
- 5.6.6 Arc Cosine (ACOS) 176
- 5.6.7 Arc Tangent (ATAN) 177
- Input data Output data 179
- 5.7 Data Shift Instructions 181
- 5.7.3 Move Bit (MOVB) 185
- 5.7.4 Move Word (MOVW) 187
- 5.7.5 Exchange (XCHG) 189
- 5.7.9 Binary Search (BSRCH) 197
- 5.7.10 Sort (SORT) 199
- 5.7.13 Copy Word (COPYW) 205
- 5.7.14 Byte Swap (BSWAP) 207
- 5.8 DDC Instructions 208
- Input value Output value 210
- Dead zone set value 210
- Key entry: DZB 210
- 5.8.4 PI Control (PI) 214
- 5.8.5 PD Control (PD) 219
- 5.8.6 PID Control (PID) 225
- 5.8.7 First-order Lag (LAG) 230
- 5.8.8 Phase Lead Lag (LLAG) 233
- If DVDTS = ON, DVDT = 250
- (V – V' ) × 5,000 250
- DVDT = V - V’ 251
- (DB000001) three times 291
- Error Codes 293
- 5.10.1 Counter (COUNTER) 294
- Key entry: TRACE 301
- Structure of Read Data 303
- Processing Result (PARAM00) 312
- Status (PARAM01) 313
- Function Code (PARAM04) 314
- Data Addresses 315
- Key entry: MSG-RCV 323
- Status (PARAM01) 324
- Data Address (PARAM05) 325
- Data Size (PARAM06) 325
- Remote CPU Number (PARAM07) 325
- Error Code (PARAM01) 341
- Copy of Cir-No (PARAM02) 341
- Copy of St-No (PARAM03) 341
- For System Use #1 (PARAM04) 341
- For System Use #2 (PARAM05) 342
- For System Use #3 (PARAM06) 342
- ON coils are 356
- Current values of 356
- 6.2 Searching/Replacing 357
- 6.3 Cross References 358
- 6.5 Forcing Coils ON and OFF 359
- 6.6 Viewing Called Programs 360
- 6.7 Register Lists 360
- 6.8 Tuning Panel 361
- Ladder drawing 362
- MPE720 version 6 363
- Troubleshooting 364
- 7.2 Indicator Status 366
- 7.3 Problem Classifications 367
- 7.4 Detailed Troubleshooting 369
- Troubleshooting Method 2 371
- 7.4.2 I/O Errors 372
- 7.4.3 Watchdog Timer Errors 373
- 7.4.5 System Errors 374
- Appendix A 375
- A.1 System Service Registers 376
- ( 2 ) Exclusive to DWG.H Only 377
- ( 3 ) Exclusive to DWG.L Only 378
- System Registers 379
- A.2 System Status 380
- A.3 System Error Status 381
- A.3 System Error Status 382
- Error Code 383
- Index error 383
- A.7 System I/O Error Status 386
- A.9 Interrupt Status 388
- A.10 Module Information 389
- A.11 MPU-01 System Status 390
- Appendix B 393
- Programs 394
- 2. Click Select 396
- Appendix C 397
- Configuration Example 398
- Ladder Programming Example 398
- C.2 Motion Program Control 399
- Motion Programming Example 400
- Procedure 402
- Appendix D 403
- ( 1 ) Operators 404
- ( 2 ) Operands 405
- D.2 National Limitations 407
- D.2.4 Substitution Operator 408
- D.2.5 Functions 408
- D.2.6 Others 408
- Arrays 408
- Appendix E 409
- E.1 General Precautions 410
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