Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 62)

4 Motion Programs
4.3.3 Work Registers
4-10
• Timing Chart for Motion Program Control Signals
The following figure shows an example of a timing chart for motion program control signals.
• Turning ON the Stop Request while the axis is being moved by a motion command will cause an alarm.
• Turning ON the Stop Request while the axis is being moved by an interpolation related command will
immediately stop the axis.
Use the Pause Request to decelerate the axis to a stop.
• During execution of the Zero Point Return (ZRN) command, Pause Requests will not be accepted.
Use the Stop Request to stop the zero point return operation.
A program example for motion program control is given in B.1 Programs for Controlling Motion Program Exe-
cution.
Control signal:
Operation start request
Status: Operating
Distribution
One scan
Control signal:
Operation start request
Status: Operating
Distribution
Control signal: Pause request
Status: Paused
Pause Request
Program Operation Start Request
One scan
One scan
Control signal:
Operation start request
Status: Operating
Distribution
(Positioning related commands)
Control signal: Stop request
Distribution (Zero point return)
Distribution
(Interpolation related commands)
Status: Stopped
Status: Alarm
Stop Request
Control signal: Alarm clear
IMPORTANT