Yaskawa MP920 User's Manual Design - Manual (Page 375)

6.2 System Startup Procedure
6-45
6
Main Motion Management Ladder Logic Program
1st
Servo parameter
(SVRUNCMD)
Servo parameter
(SVRUNCMD)
Axis alarm generated
Axis alarm generated
Servo parameter
(ALARM)
Servo parameter
(ALARM)
IB00005
Emergency
stop
Stopped for
emergency
Stopped for
emergency
Automatic
mode
Manual
mode
Manual mode
status
Stopped for
emergency
Axis servo ON (axis 1)
Stopped for
emergency
Axis servo ON (axis 2)
Automatic
mode
Automatic mode
status
Manual mode status
OFF request
Manual mode
status
Automatic mode
status
Manual
mode
Manual mode
status
Automatic mode status
OFF request
Automatic mode
status
Alarm
reset
DB001020 IB00006
DB001020
SB000001
IB00000 IB00001 DB00100A DB001023 DB001009
DB001009
IB00001 IB00000 DB001009 DB001024 DB00100A
DB00100A
DB001020 IB00010
DB001020 IB00020
OBC0010
OBC0410
DB001040
DB001050
IFON
00000
SETW DW00100 D=00000 W=00006
IEND
ILC022 ≠ 00000
ILC062 ≠ 00000
DW00000
Work memory initialization
Emergency stop
Mode selection
Servo ON
Task 1 program status
Alarms
Axis 1
Axis 2
Task 1 program control signals
DW00001
P00103 PSH9200-962401 DWG. H01 Main program
1 0000
1 0001
$FSCAN-H
2 0002
2 0004
2 0005
1 0008
1 0009
1 0010
1 0013
1 0016
1 0019
1 0022
1 0025 "ST-AXSCHG01"
1 0026
1 0029
1 0032 "ED-AXSCHG01"
1 0033 "ST-AXSCHG02"
1 0034
1 0040 "ED-AXSCHG02"
1 0037
Draw.
Date 1997.12.17 DWG. H01
PSH9200-962401 P00103
COMMENT.CROSS REF. ($,&,@=WRITE,/=DWG, -=ABOX, I=SFC,==SYMBOL,%=FBD,:=TBL)
Main program