Yaskawa MP940-MW+ - Manual (Page 12)

TECHNICAL NOTE
MOTION PRODUCT AND ENGINEERING GROUP
Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085
(800) YASKAWA - Fax (847) 887-7280
5/22/2003 12 of 34 eng/PubNumber/MCD
Subroutines
The Subroutines folder contains the following:
02 Jog +, 03 Jog -, 04 Home, 05 Move, 06 Gear, 07
Cam, 08 Torque, and 09 Latch subroutines.
A program can have up to 62 subroutines, and
subroutines may be nested up to eight deep.
02 Jog +
The jog + subroutine jogs the servo in the forward direction as long as the user keeps the
jog forward request (Local_Input2) activated. When the user deactivates the jog forward request,
the servo decelerates to a stop and execution is returned to the main program. LocalOutput2 is
activated while servo is in motion jogging. The looping of block 5 to block 4 allows the user to
change the jog velocity while in motion.
03 Jog –
The jog – subroutine jogs the servo in the reverse direction as long as the user keeps the
jog reverse request (Local_Input3) activated. When the user deactivates the jog reverse request,
the servo decelerates to a stop and execution is returned to the main program. LocalOutput3 is
activated while servo is in motion jogging. The looping of block 5 to block 4 allows the user to
change the jog velocity while in motion.