6.3 User Programs
6-19
6
(8) Example of a Ladder Program for Motion Program Control
The minimum ladder program required to control a motion program is shown in the following illustration.
The contents of this ladder program are shown in the following table.
When the external input signals (IB00000 to IB00005) connected to the MP2100/MP2100M are input to
DW00001 (second word of MSEE work registers) as motion program control signals using the ladder program
shown above, motion program operations such as run, stop, and pause can be performed by the system motion
management functions.
The following table shows an example of external input signals required to create the minimum
ladder program for running motion programs on the MP2100/MP2100M.
Step
Number
Program Content
1
Sets servo ON (OB80000) using the servo ON signal (IB00100), and turns the servo ON.
2 to 10
The signals connected to the MP2100/MP2100M external input signals are stored as the motion program
control signals.
IW0000 (external input signals)
→
DW00001 (second word of MSEE work registers)
• Program start
• Program pause
• Program stop
• Alarm reset
11, 12
Calls motion program MPM001
MSEE MPM001 DA00000
①
②
①
Motion program number
②
MSEE work register address
13, 14
Sets the alarm clear (OB8000F) using the alarm reset signal (IB00005), and clears the alarm.
External
Signal
Address
External Signal Name
Bit No.
Motion Program Control Signal
IB00000
Program start
0
Program start request
IB00001
Program pause
1
Program pause request
IB00002
Program stop
2
Program stop request
IB00005
Alarm reset
5
Alarm reset request
0000
0002
0005
0007
0009
0011
OB80000
DB000010
DB000011
DB000012
DB000015
1
1
1
1
1
1
1 0013
IB00100
IB00000
IB00001
IB00002
IB00005
MSEE
MPM001
DA00000
OB8000F
IB00005
DB000300
Servo ON
Program pause
Program stop
Alarm reset
Program start
Alarm clear
EXAMPLE
