Yaskawa MP2000 Manuale Utente Scaricare il pdf (Pagina 84)

TECHNICAL NOTE

<MOVEABS> Input and Output Register Map

Output Registers

The following registers are used as outputs from the function block. They can be

monitored by the LadderWorks program to check the execution of the function.

OUTPUT TYPE Content

RUNNING Bit High while block has control and move is in progress.

DONE Bit Indicates Move Complete(IB**0C1=ON). When the

servo has reached target position within “In-position”

window(target position ± positioning completed width),

this output bit turns ON.

ERROR Bit Latches high if any error occurs in block (see table

below) or on the servo axis (see IL**04). This is Reset

if EXECUTE bit goes low.

DISTGONE Long Distance in counts axis has traveled in this move, while

this block has control.

Input Registers

The following registers are used as inputs to the function block. They select the options

and define the parameters that the user needs to make the function work as necessary

Input Type Description Range and state

EXECUTE Bit Block enable – Block cannot

execute unless this is TRUE

Rising edge initiates block

TRUE – Block enable

FALSE – Block disable, set all

outputs to zero and off

AXIS Word Axis number related to the block

1～16

DIRECTIO Word Direction to travel 1 = Positive direction

2 = Negative direction

*3 = Continue in current direction

*4 = shortest path

*: Only can be used if axis is in

rotary mode.

POSITION Long Absolute position in counts for

axis to go to.

-2147483648 to 2147483647

[0 to 2147483647 for rotary axis]

DATA17W

Address

Address of the first working

Seventeen words of register space

are used by this function.

File: MP2000_IndividualFunctionDocument_RevC 84/168

Doc Number: eng.MCD.05.101 11/17/2005

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Yaskawa MP2000 Manuale Utente Pagina 84

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