YASKAWA JEPMC-MP2300S-E, User Manual

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5.2 User Programs
5.2.2 Motion Programs
5-23
5
Outline of Motion Control Systems
[ b ] A motion program referenced by a MSEE command from a ladder program
When a motion program is referenced by a MSEE command from a ladder program, control the motion program via a
sequence or ladder program.
To use this execution processing, incorporate a MSEE command in the ladder H drawing. In this case, MSEE work reg-
ister configures and monitors the motion program.
The following figure shows a setting example in this method.
For information about the meaning and estimation of the register number, refer to 5.3 Registers on page 5-36.
Each example which uses a sequence program and ladder program respectively as a program for controlling the motion
program is shown as follows:
1.
Example using a sequence program
Note: An MSEE command cannot be incorporated into a sequence program.
Incorporate an MSEE command separately into a ladder H drawing.
OB80000 = IB00000; “axis 1 servo on”
MB00010 = PON( IB00001 DB000000 ); “program start”
MB00011 = IB00002;
“hold”
MB00012 = IB00003; “program stop”
MB00015 = IB00004; “alarm reset”
OB8000F = IB00005; “alarm reset for axis 1”
IF NON( MB00000 DB000001 ) == 1; “motion program stop”
; “Process when program operation is stopped”
IEND;
END;
VEL [a1] 5000 [b1]..
FM
X T10000000 ;
IAC T25 ;
IDC T30 ;
MOV [a1] 300. [b1]..
MVS [a1] 200. [b1]..
.
.
.
.
DA
DA +1
DA +2
DA +3
( : hexadecimal number)
END
DWG.H
DEND
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Status
Control signal
Override for interpolation
System work number
MSEE
work registers
address
External ladder control
signal
•
Operation start
•
Pause
•
Stop, etc.
Ladder program for
motion program control
Motion
program No.
MPM001
Execution control using a
motion management function
Ladder program
Motion program
Start address of an
MSEE work register
Reference of MSEE
work registers