Yaskawa MotionWorks+ Windows Software User Manual Page 115
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MotionWorks+™ Programming Tools
109
mExternal_BPhase 0 1 status
R IB0002B
mLimit_Hardware_Negative 0 1 status
R IBC0222
mLimit_Hardware_Positive 0 1 status
R IBC0221
mLimit_Speed_Detected 0 1 status
R IBC0016
mLimit_Torque_Detected 0 1 status
R IBC0015
mMachineCycle_External_Counts 1 2147483647 counts
R ML31130
mMachineCycle_Main_Counts 1 2147483647 counts
R ML31110
mPosition_Actual calculated calculated MP user units
RMF31108
mPosition_Actual_Counts -2147483648 2147483647 counts
R ML31098
mPosition_Commanded calculated calculated MP user units
R MF32046
mPosition_Complete 0 1 status
R IBC000D
mPosition_Error calculated calculated MP user units
R MF32050
mPosition_Error_Exceeeded 0 1 status
R IBC0000
mPosition_Ext_Mod_Latch_Counts 1 2147483647 counts
R ML31086
mPosition_External calculated calculated Ext user units
RMF31128
mPosition_External_Counts -2147483648 2147483647 counts
R ML31118
mPosition_External_Shifted 1 2147483647 counts
R ML31288
mPosition_Latch_External calculated calculated Ext user units
R MF32040
mPosition_Latch_External_Counts -2147483648 2147483647 counts
R IL0008
mPosition_Latch_Main calculated calculated MP user units
R MF32042
mPosition_Latch_Main_Counts -2147483648 2147483647 counts
R ILC006
mPosition_Main_Mod_Latch_Counts 1 2147483647 counts
R ML31084
mPosition_Target calculated calculated MP user units
R MF32044
mProgram_HighScan_Current 0 32768 mSec/100
R SW00005
mProgram_HighScan_Maximum 0 32768 mSec/100
R SW00006
mProgram_LowScan_Current 0 32768 mSec/100
RSW00011
mProgram_LowScan_Maximum 0 32768 mSec/100
R SW00012
mPulse1 0 1 bit
R SB000010
mPulse1000 0 1 bit
R SB000012
mPulse500 0 1 bit
R SB000011
mSpeed_Coincidence 0 1 status
R IBC0012
mSpeed_External calculated calculated Ext user units/s
RMF31126
mSpeed_Main calculated calculated MP user units/s
RMF31106
mSpeed_Main_Commanded calculated calculated MP user units/s
R MF32048
mState_ABSEncoder_Direction 0 1 status
R IBC0009
mState_BrakeEnabled 0 1 status
R IBC0017
mState_Camming 0 4 status
R MW31261
mState_DIP_Switches 0 255 status
R SW00048
Table 1: Monitors (Continued)
Name Minimum Maximum Units R/W Address
- Icon-Based Programming Manual 1
- MotionWorks+™ 4
- Contents 5
- Introduction 7
- 1. MotionWorks+™ 9
- 1.4 Creating A Project 12
- 1.5 Saving A Project 14
- 1.6 The Project Explorer 15
- Important Note!! 18
- 1.6.1 HMI Data 44
- File Data Format 46
- 1.7 Scope 57
- Properties 58
- Analog 1~4 58
- MotionWorks+™ Scope 59
- Scope MotionWorks+™ 60
- Scope Examples 63
- 1.8 The Block Toolbar 64
- 1.9 The Properties Window 65
- 1.10 The Program Window 66
- 11 12 13 14 67
- 1.11 Expression Builder 68
- Creating Expressions 69
- 1.12 Cross Reference 71
- 1.13 Search and Replace 72
- 1.15 Compiling A Program 77
- 1.16 Downloading a Project 78
- 1.18 Electronic Cam Tool 80
- 2. Gear Ratio 84
- 1.19 Archive 107
- Archive MotionWorks+™ 108
- 2.1 Programming Tools 109
- 3. Programming Concept 111
- Default I/O Names 113
- Table 1: Monitors (Continued) 115
- 0 0 1 configuration 117
- 3.1 User Unit Conversion 133
- 3.2 Block Reference 136
- MotionWorks+™ Block Reference 137
- 3.2.1 CALL SUBROUTINE 138
- 3.2.2 CAM 139
- Block Reference MotionWorks+™ 140
- 3.2.3 CAM SHIFT 141
- 3.2.4 CHANGE DYNAMICS 143
- 3.2.5 DEFINE POSITION 144
- 3.2.6 END 145
- 3.2.7 GEAR 146
- 3.2.8 GEAR RATIO 147
- 3.2.9 HOME AXIS 148
- 3.2.10 IF EVENT 150
- 3.2.11 IF FAULT 151
- 3.2.12 INPUT 152
- 3.2.13 JOG AXIS 153
- 3.2.14 LATCH 154
- Pn511.3 Settings 155
- 3.2.15 LATCH TARGET 156
- Position 158
- 3.2.16 LAUNCH PROGRAM 159
- 3.2.17 MOVE AXIS 160
- 3.2.18 PLS 162
- 3.2.19 RESET FAULT 164
- 3.2.20 SCALE CAM 165
- 3.2.21 SERVO 166
- 3.2.22 SET VARIABLE 167
- 3.2.23 SLAVE OFFSET 168
- 3.2.24 START 169
- 3.2.25 STOP MOTION 170
- 3.2.26 SUSPEND PROGRAM 171
- 3.2.27 TIMER 172
- 3.2.28 TORQUE 173
- Table Format 175
- Table Syntax 175
- Program #1 177
- Block #7 178
- Block #8 178
- Program #2 179
- Block #4 180
- Block #9 180
- B.1 Summary 184
- B.2 Programs 185
- Program Definition 185
- Program Guidelines 185
- Supervisor Program 186
- Manual Program 190
- Automatic Program 191
- B.3 Subroutines 192
- Jog + Subroutine 192
- Jog – Subroutine 193
- Home - Subroutine 194
- Move - Subroutine 195
- Gear - Subroutine 197
- Engaging/Disengaging 198
- Cam - Subroutine 199
- Engaging 200
- Disengaging 200
- Torque - Subroutine 202
- Latch - Subroutine 202
- Latch Target Block 203
- Local Input functionality 204
- Local Output Functionality 205
- System Variables 206
- Appendix C MW+ Camming 101 207
- 3. Resolution Considerations 209
- The Master 214
- The Slave 215
- Why is a window required? 216
- Performing a cam “one shot.” 219
- How does CAM SHIFT work? 220
- Cam Shift has the effect 222
- Ex pr e ssion 225
- INIT BLOCK 228
- SET BLOCK 229
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