Yaskawa MP2000 - Manual (Page 17)

TECHNICAL NOTE
File: MP2000_IndividualFunctionDocument_RevC 17/168
Doc Number:
EF.MCD.05.101 11/17/2005
Input Registers
The following registers are used as inputs to the function block. They select the options
and define the parameters that the user needs to make the Home function work as
necessary.
Input Type Description Range and state
ENABLE Bit Block enable – Block cannot
execute unless this is TRUE. Rising Edge – see operation notes
TRUE – Block enable
FALSE – Block disable
CAMIN Bit Sets block to search for
ENGAGE position in master.
When reached axis begins
camming RISING EDGE- initiates search for
engage position and sets up for
camming
CAMOUT Bit Sets block to search for
DISENGAG position in master.
When reached axis stops and
holds. RISING EDGE- initiates search for
disengage position and stops
camming and holds when position
is reached by master.
RECOVRY Bit Start Recovery Motion when E-
stop occurred. RISING EDGE- initiates the
recovery motion.
AXIS Word Axis number related to the block 1 to 16
M-S-PAIR Word Master Slave Pair as defined by
the RDA 1 to 10 integer. This value is
needed to match the value of the
MOD-ENG function block.
TBLTYPE Word Defines what register type the
cam table will be in. CAM table
consists of 32-bit long integer
words 1 = M registers
2 = C registers
3 = D registers
TBLADDRS Word Starting address number of the
cam table.
In case of D register table, this
value is relative to the assigned
data address at ‘DATA31W’.
TBLADDRS+DATA31W
= Actual Starting Address
0～3276
If the end of the table is greater
than 32767, the an error will be
set.
(The limit of M-reg is MW00000 to
MW29999)
ENGAGPO
S Long Master position in counts to start
the slave camming 0 to the machine cycle value
defined in the MOD-ENG block
DISENGAG Long Master position in counts to stop
the slave camming 0 to the machine cycle value
defined in the MOD-ENG block
DATA32W Addres
s Address of the first working
register. Thirty-two words of register space
are used by this function.