Yaskawa MotionWorks+ Windows Software - Manual (Page 190)

Standardized Template Project MotionWorks+™
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Manual Program
Functions typically performed while in a “manual” mode are included in the manual main
program. While this program is executing, it is waiting for the user to activate an input to
select a subroutine program. As long as no input is selected, the program scans the blocks
in order of 3, 4, 5, 6, 9, and 11 then back to 3.
Two key features in this program are important to mention. First, the IF EVENT block (3)
detects if the user variable [SystemOk] is true. As long as this condition is true the pro-
gram will stay running (remember, SystemOk is controlled by the supervisor program).
Second, the input block (4) ensures that the user variable [ModeManual] has been
selected. This is a critical interlock that guarantees that more than one main program is
not attempting motion at the same time. This can be especially disruptive if the “Auto-
matic” program is running the servo in camming mode and the “Manual” program is
attempting to jog.