Yaskawa MP920 User's Manual Design - Manual (Page 118)

4 Motion Control
4.1.2 Motion Control Methods
4-4
4.1.2 Motion Control Methods
By using Motion Modules, motions for a wide variety of applications can be controlled.
There are two programming methods for controlling motions: Ladder logic programs and
motion programs.
An overview of each programming method is given below.
„ Ladder Logic Programming
Ladder logic programs are designed mainly for sequence control. The setting parameters and
monitoring parameters used as interfaces with the Motion Modules are directly written to and
read by the ladder logic programs to perform motion control.
Special operations can be programmed and combined as user functions.
For details, see Chapter7 Parameters.
„ Motion Programming
The motion programs that have been created perform motion control using a special motion
language. Up to 256 programs can be created, and these can also be executed in parallel.
PG M
PG M
PG M
PG M
H0101 OWC000
B00105
IFON
500 OWC015
0 OWC015
ELSE
CPU Module
Ladder logic program
Setting parameters
Monitoring parameters
SVA Module
Motion
processing
Status
Status
information
SERVO-
PACK
SERVO-
PACK
SERVO-
PACK
SERVO-
PACK
CPU Module SVA Module
MSEE MPM001
MOV [X] 100
MVS [X] 100
MCC ----
EXT
PG M
PG M
PG M
PG M
SERVO-
PACK
SERVO-
PACK
SERVO-
PACK
SERVO-
PACK
Ladder logic
program Motion program
MOV
command
MVS
command
MCC
command
Setting
Parameters
Command
processing
Status
information
Monitoring
Parameters
.
.
.
.
.