YASKAWA MP210 Series User Manual page 164

4 System Startup and Sample Programs
4.4.5 Operation Check 4: Phase Control - Electronic Cam
(5) Sample Program Details
(a) H06.02 Drawing
The H06.02 grandchild drawing controls phase control (electronic cam) operation.
P00121 H06.02
########## Description ##########
Axis 1: Master axis = Phase control (electronic shaft)
Axis 2: Slave axis = Phase control (electronic cam)
########## Phase Control Operation Command ##########
0000
0000
NL-1
0001
0004
NL-1
0002
0009
NL-1
########## Motion Command Issue ##########
Motion command 25 (phase control) setting
0003
0013
NL-1
0004
0015
NL-1
Motion command 0 (NOP) setting
0005
0017
NL-1
0006
0019
NL-1
########## Slave Axis Phase Generation Operation Disabled (Electronic Cam Mode) ##########
0007
0021
NL-1
########## Master Axis Speed Command Generation ##########
Master axis linear acceleration/deceleration parameter setting
0008
0025
NL-1
Master axis speed setting
0009
0026
NL-1
4-70
Main Program: Phase Control 2 (Electronic Cam)
Startup PB Axis 1 SV_ON
DB000010 IB80001
Operation command WORK
DB000000
DB000050
Operation command Zero speed
DB000003
DB000000
Electronic cam start
Axis 1 motion command
DB000001
STORE
Source 00025
Dest OW8008
Electronic cam start
Axis 2 motion command
DB000001
STORE
Source 00025
Dest OW8088
Electronic cam stop
Axis 1 motion command
DB000002
STORE
Source 00000
Dest OW8008
Electronic cam stop
DB000002 Axis 2 motion command
STORE
Source 00000
Dest OW8088
Operation command
DB000000
Zero speed
DB000003
Linear acceleration/deceleration parameter setting
EXPRESSION
DB000200 =true;
DB000201 =true;
DF00022 =30000.0;
DF00024 =10.0;
DF00026 =10.0;
Operation command
DB000000 Linear accelerator/decelerator input
STORE
Source DL00010
Dest DF00012
########## Phase Control 2 (Electronic Cam) ##########
Axis 2 SV_ON
IB80801
Axis 1 motion command 0 Axis 1 motion command 0
MB300010 MB300018
WORK
DB000051
Operation command
DB000000
Electronic cam start
DB000001
Electronic cam stop
DB000002
Axis 2 phase generation disabled
OB80851
Cam operation command
MB300008