YASKAWA MP2200 User Manual page 177


A Way to Immediately Control a Motion Program from External Device
M-EXECUTOR has a function which allocates any register to an M-EXECUTOR control register.
Using this function allows you to automatically exchange data between an M-EXECUTOR control register and an I/O
register connected to an external device. This allows you to immediately control the motion program from the external
device.
The following figure shows a setting example in this method.
Window for allocating the M-EXECUTOR register
External device
- Upper PLC
- Touch panel
- Switch
- LED, etc.
 An allocation contact interlock is used to interlock the operation of a motion program. When setting an alloca-
tion register, be sure to set an allocation contact interlock.
It is processed, as shown below, by turning ON/OFF an allocation contact interlock:
• When an allocation contact interlock contact is ON, data is exchanged between an allocation register and M-EXECUTOR
control register at H scan cycle. Now, the motion program becomes executable.
• When an allocation contact interlock is OFF, data is not exchanged between an allocation register and M-EXECUTOR con-
trol register. Now, the motion program becomes unexecutable.
• When an allocation contact interlock is switched from ON to OFF while running a motion program, the running motion pro-
gram stops and an axis in operation also stops. Now, the motion program falls into the alarm "1Bh: Executing an emergency
stop command" state, and the status "Bit8: Program alarm is occurring" is turned ON.
Again, to execute a motion program, follow the procedure below for operation:
1. Switch the interlock contact from OFF to ON.
2. Turn ON a control signal "Bit5: Alarm reset request."
3. Make sure that the status "Bit8: Program alarm is occurring" is turned OFF.
4. Turn OFF the control signal "Bit5: Alarm reset request."
5. Turn ON a control signal "Bit0: Request for the program operation startup."
Allocation register
External signal
- Program number
- Operation startup
- Pause
- Stop, etc.
Data is exchanged
at H scan cycle.
Specify any registers for allocation register and
mapping interlock contact.
Program number
Status
Allocation
Control signal
interlock
Override for interpolation
contact
Reference of
M-EXECUTOR
control register
5.2 User Programs
5.2.3 Motion Programs
Execution control using a
motion management function
MPM001
VEL [a1] 5000 [b1]..
FMX T10000000;
IAC T25;
IDC T30;
MOV [a1] 300. [b1]..
MVS [a1] 200. [b1]..
.
.
.
.
END
Motion program
5-27
5