Yaskawa MP940-MW+ - Manual (Page 17)

TECHNICAL NOTE
MOTION PRODUCT AND ENGINEERING GROUP
Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085
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5/22/2003 17 of 34 eng/PubNumber/MCD
Running
The rest of the blocks are executed while the system is
engaged in camming (or running). The user is able to scale the cam by
modifying the variable (user variable [CamScale]) in the Cam Scale
block (14). The scale factor is a percentage of the original cam, where
100.00% represents the original cam size. A value larger than 100%
equates to an expanded cam, less equals a contract cam.
08 Torque
The torque subroutine is quite simple. Once entered from the calling program the motor
applies a variable amount of torque (based on a user variable [TorqueToApply]) and activates
output 8. It also limits the velocity of the motor (based on a user variable [Vel]). As long as input
8 is activated this is continued. Once input 8 is deactivated the servo is decelerated to stop,
output 8 is deactivated and the subroutine is exited.
09 Latch
The latch subroutine works very similarly to the move subroutine. The main difference is
the move block has been replaced with a Latch Target block (4). Additionally, the values in PLS