TECHNICAL NOTE
MOTION APPLICATION ENGINEERING GROUP
Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085
(800) YASKAWA - Fax (847) 887-7280
11/23/2005
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eng/05.055/MCD
Interlocking During Execution
During the execution of the motion program:
•
Interlocks should exist in the ladder code to keep it from changing global registers that
the motion program writes to. These registers include “M”, “O”, and any group axis
output registers. (Use the ladder’s “waterfall technique” – hold the register value.
Example OW8008 and OW8088 in drawings H20.01 and H20.02 respectively.)
When a Motion Program is
executing, the contacts on these two
(6 & 7) rungs are false. Therefore the
ladder code leaves the OW8008
register unchanged.
When a Motion Program is
executing, and a motion program
instruction has changed this motion
register (OW8008), the value is
simply written to it where the MSEE
instruction exist in the ladder code.
This store simply places that value in
a local register (DW00026) used as
an accumulator.