Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 209)

8 Command Reference
8.4.7 User Function Call From Motion Program (UFC)
8-102
(3) Programming Examples
A UFC command programming example is shown below.
Fig. 8.61 User Function Call Command (UFC)
(4) UFC Command Creation Procedure
Use the following procedure to create a UFC command.
(5) Register Types Used Within User Functions
The data types are as follows.
UFC KANSUU MB000000 IW0010 MB000002, MA00100, MB000001 MW00200 ML00201;
Function Input data Input address Output data
name
EXAMPLE
Function name
INPUT-1 OUTPUT-1
INPUT-2 OUTPUT-2
INPUT-3 OUTPUT-3
INPUT-4
MA00100
MB000000 MB000001
MB000002
IW0010
MW00200
ML00201
Determine the UFC command specifi-
cations. • Determine the number of I/Os and data type.
• Determine the function name.
Set the following on the Program
Property window.
• Configuration definition
• I/O definitions
Use the MPE720 to enter the definitions.
Create the user functions (ladder pro-
gram). Create the user functions in the same way as for the
drawings, except for the register type to be used.
Create the motion program.
Write a UFC command block with the format:
UFC function name input data, input address, output
data;
Check the operation.
Data Type
BIT Bit
WORD Integer
LONG Double integer
FLOAT Real number