4.1 User Program Types and Execution Timing
4.1.2 Motion Programs
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4
Creating User Programs
Work Registers
Work registers are used to set and monitor motion programs.
The first work register for a motion program that is called with an MSEE instruction is specified
in the MSEE instruction in the ladder program. The following figure shows the structure of the
work registers.
Motion Program Status Flags
The Motion Program Status Flags give the execution condition of the motion program. The fol-
lowing table describes the meanings of the Status Flags.
Note: If a program alarm occurs, motion program error information is provided in the Motion Alarm Dialog Box and
in the S registers.
Bit No.
Status
0
Program is being executed.
1
Program is paused.
2
Program is stopped due to a stop request (for system
use).
3
Reserved for system.
4
Program single-block execution is stopped.
5
Reserved for system.
6
Reserved for system.
7
Reserved for system.
8
There is a program alarm.
9
Execution is stopped at a breakpoint.
A
Reserved for system.
B
The program is in Debug Mode (EWS debugging).
C
Program Type, 0: Motion program
D
Start Request History
E
No System Work Available Error
Execution Scan Error
F
Main Program Number Limit Exceeded Error
First work register
(M register or D register)
Work Register
Contents
1st register
Motion Program Status Flags
2nd register
Motion Program Control Signals
3rd register
Interpolation Override
4th register
System Work Number