Yaskawa MP2000 - Manual (Page 129)

TECHNICAL NOTE
Flow Chart
START
FIRST HIGH
SPEED SCAN
ABSOLUTE
ENCODER
SET ABSOLUTE
OFFSET TO
ZERO
END
1
NO
YES
1
NO
YES
EXECUTE
NO
IN RDA
RANGE
YES
SET ERROR
OUTPUT
NO
IN RDA
RANGE
YES
NO
YES AXIS "BUSY"
AXIS "HOLD"
AXIS "OP
FAIL"
NO AXIS
ALARMS
NO MCC
RESPONCE
NO MCC
REQUEST
YES
YES
NO
NO
NO
NO
YES
YES
YES
YES
NO
NO AXIS ROTARY
IS
"REQPOSIT"
IN ROTARY
RANGE
NEW OFFSET ==
REQESTED POSITION
-- PRESENT TARGET
POSITION ++
PRESENT OFFSET
POSITION
NO
YES
SET ERROR
OUTPUT
SET RUNNING
OUTPUT
SET RUNNING
OUTPUT
YES
NEW REQUESTED
POSITION ==
PRESENT
REQUESTED
POSITION -
MODULARIZED
POSITION ++
PRESENT LINEAR
POSITION
NO
REST RUNNING
OUTPUT
SET DONE
OUTPUT
1
File: MP2000_IndividualFunctionDocument_RevC 129/168
Doc Number: eng.MCD.05.101
11/17/2005