Yaskawa MP900 Series Motion Programming Manual - Manual (Page 34)

Overview of Motion Programs
1.1.3 Starting Motion Programs
1 -20
J Example of Ladder Program for Motion-program Control
The following examples show the minimum amount of code that is required in a ladder logic
program to control a motion program.
1 0000
IB00000 DB000100 DB000010
IB00100 OBC0010 *1
IB00001 DB000011
1 0002
1 0005
IB00002 DB000012
1 0007
IB00005 DB000015
1 0009
1 0011 MSEE MPM001 DA00000
IB00005 OBC0006 *2
1 0013
1 0015
1 0017
1 0019
1 axis alarm reset
Servo ON/OFF
Program run start
Program pause
Program stop
Alarm reset
* 1. OB80000 for MP2000-series Machine Controllers
* 2. OB8000F for MP2000-series Machine Controllers
The contents of the above ladder program are as follows.
Step No. Program Contents
1 to 7 The signals connected to the MP-series Machine Controller external input signals
are stored as the motion program control signal
IW0000 (external input signal)→DW00001 (2nd word of MSEE work register)
Program run start
Program pause
Program stop
Alarm reset
8 Calls the motion program MPM001
MSEE MPM001 DA00000
1 2
1: Motion program number
2: MSEE work register address
11 to 15 The alarm reset signal (IB00005) sets the operation mode of the setting parameter
for each axis and resets the alarm to clear the axis alarm.
If input signals (IB00000 to IB00007) are sent with the ladder logic program shown here to
DW00001 (second word of the MSEE work register) as control signals for the motion program
from an external device connected to a machine controller in the MP series, motion program op-
erations such as run start, stop, and pause can be done with the motion-management functions
of the system.
1