Yaskawa MEMOCON GL120 - Manual (Page 308)

System Components: Functions and Specifications
4.7.2 Four-axis Motion Module cont.
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Items Specifications
20) Program Registration Programs with program numbers between 01 and 99 and
sequence numbers between N001 and N999 can be registered
and stored.
21) Program Execution a) A program number and block number can be designated
from the CPU Module to enable the MC20 Module in
automatic mode to execute the program from the designated
block.
b) A single block can be designated from the CPU Module to
enable the MC20 Module in automatic mode to execute the
block.
c) A program can be designated from the programming device
to enable the MC20 Module in online edit mode to execute
the program.
22) Program Execution Method While the MC20 Module is executing positioning or servomotor
control command for interpolation in a block, the commands not
involving servomotor control in the next block will be executed
simultaneously.
23) Machine Lock The MC20 Module can check the motion programs of the MC20
Module without executing axis control.
24) I/O Variable The MC20 Module makes it possible to monitor the coil status of
the CPU Module from the motion programs stored in the MC20
Module or output the coil status to the relay.
25) Link I/O Variables Data can be exchanged between the MC link registers of the
ladder logic programs of the CPU Module and the variables of
the motion programs of the MC20 Module.
26) Home Position Return All axes return home simultaneously. It is possible to designate
axes to return home with a program. Axes return home with a
command from the CPU Module or a motion program.
27) Monitor The following status can be monitored from the programming
device.
a) Current positions, I/O status with the CPU Module, and
program step being executed
b) Position errors and alarm contents
28) Utility Command A variety of commands can be executed with sequence
commands of the CPU Module, such as mode selection, servo
ON and OFF, program run, programmed independent axis
operation, home return, jogging operation, single block
operation, resetting alarms, machine reset, resetting Modules,
stepping operation, machine lock operation, status of
emergency stop and data monitor, and parameter change
commands, setting present value, setting H variables, setting
point tables, and setting home (zero point).
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