Yaskawa MP940 Reference Manual User Manual

Page 67

MotionSuite™ MP940 Machine Controller Reference Manual

User Programs

3-25

2. The content of the above ladder program is as follows:

3. Motion program run/hold/stop, etc., operation by the system motion

control function is possible when the external I/O signals (IB00000 ~
IB00007) connected in the MP940 by the above ladder program are
input as motion program control signals (word 27 of the MSEE work
register).

The following table provides an example of the external input signals
required to create the minimum neccessary in order to operate a motion
program in the MP940.

Motion Control Ladder Autotmatic Generation Function

An automatic generation function for motion control ladders is standard
equipment in the MP940. Using this function, both jog operations and
programmed runs may be performed without having to create a dedicated
ladder program. Additionally, the system boot-up time is greatly reduced.

Step

Number

Program Content

1 ~ 7

Stores the signal connected to the external input signal of the MP940 into the
motion program control signal.
IW0000 (External Input Signal) ¨_ DW00001 (27th word of MSEE work register)
Program Run Start
Program Hold
Program Stop
Alarm Reset

Call-out of motion program MPM001
MSEE MPM001 DA00000
(1) (2)
(1) Motion Program Number
(2) MSEE Work Register Address

11 ~ 15

Reset the run mode setting alarm reset (B6 of OWxx00) for each axis setting
parameter and clear the alarms on each axis by the alarm reset signal (IB00005).

External

Signal

Address

External Signal Name

BIT

Motion Programs

Control Signal

IB00000:

Program Run Start

B0:

Program Run Start Request

IB00001:

Program Hold

b1:

Program Hold Request

IB00002:

Program Stop

b2:

Program Stop Request

IB00003:

Program Debug Mode

b3:

Program Debug Mode Selection

IB00004:

Program Debug Start

b4:

Program Debug Start Request

IB00005:

Alarm Reset

b5:

Alarm Reset Request