Yaskawa MP940-MW+ - Manual (Page 2)

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 2 of 34 eng/PubNumber/MCD
Table of Contents
Summary ............................................................................................................................4
Programs ............................................................................................................................4
Program Definition ........................................................................................................4
Program Guidelines .......................................................................................................5
1: Supervisor ..................................................................................................................6
Start-up.......................................................................................................................7
Fault Detection...........................................................................................................8
Disable Handler .........................................................................................................8
Fault Recovery...........................................................................................................9
2: Manual .....................................................................................................................10
3: Automatic.................................................................................................................11
Subroutines ......................................................................................................................12
02 Jog +........................................................................................................................12
03 Jog –........................................................................................................................12
04 Home.......................................................................................................................13
05 Move .......................................................................................................................13
Programmable Limit Switch (PLS) .........................................................................14
Timer........................................................................................................................14
06 Gear.........................................................................................................................15
Engaging/Disengaging.............................................................................................15
Running....................................................................................................................16
07 Cam .........................................................................................................................16
Engaging ..................................................................................................................16
Disengaging .............................................................................................................16
08 Torque .....................................................................................................................17
09 Latch .......................................................................................................................17
Latch Target Block ..................................................................................................18
Configuration ...................................................................................................................18
System Parameters .......................................................................................................19
System Properties ........................................................................................................20
SGDH.......................................................................................................................21
MP940......................................................................................................................22
COM1 ......................................................................................................................23
COM2 ......................................................................................................................24
Network....................................................................................................................25
External Encoder......................................................................................................26
Data ..................................................................................................................................26
Constants......................................................................................................................27
Network........................................................................................................................28
Tables...........................................................................................................................29
Variables ......................................................................................................................30
I / O ..............................................................................................................................31