Yaskawa MP940-MW+ - Manual (Page 5)

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 5 of 34 eng/PubNumber/MCD
Lastly, a task can be Active or not. A deactivated program may be some code for feature
that is not available in a particular machine. Keep in mind; deactivated programs still count
towards the maximum of eight total tasks.
Program Guidelines
As a guideline it is recommended that each “program” contain a maximum of 64 total
blocks including all subroutine blocks called from within the program (not including start and stop
blocks). [Version 2.83 of MotionWorks+ includes an update to the compiler that lifts this
restriction, but it is still a good programming practice] In this example, the Supervisor program
utilizes 34 blocks; the Manual program utilizes 35 blocks; the Automatic program utilizes 44
blocks. In addition, it is also recommended that execution of motion effecting blocks, only be
active in one program at a time. For this reason, the Manual and Automatic routines are
interlocked such that they can only operate exclusively.
Blocks that affect motion include the following:
Move Axis
Jog
Stop
Home
CAM
Change
Dynamics
Define Position
Gear
Latch
Target
Scale CAM
Servo Enable
Torque
Slave
Offset
The Supervisor routine utilizes the Servo ON, Stop, and Change Dynamics block, but is closely
monitoring the other programs to ensure that there is no overlapping. Some precautions must
still be followed with the use of Motion Effecting blocks.