Panasonic AFP7MC16EC User Manual page 113

 Program example
The following program is simplified to show the whole configuration. The reading data from
the input control area is inserted in the beginning of the program, and the writing data to the
output control area is inserted at the end of the program.
SR14
X100
Link
1st scan OFF
Establish-
ment
R100
R1100
DF
（ ）
Servo ON
Axis 1 Servo
R4060
annunciation
Axis 1 Servo
ON request
R101
R1100
DF
（ ）
Servo OFF
Axis 1 Servo
R4120
annunciation
Axis 1 Servo OFF
X104 R1060 R1100
X100
Link
Axis 1
Tool
Establish-
Connection
operation
ment
confirmation
R120
DF
（ ）
Position control
start
R120
R110 R1160
DF
（ ）
Position control Axis 1 Start
start enabled flag
R4180
Axis 1
Positioning Start
SR14
X100
Link
1st scan OFF
Establish-
ment
BKMV.US
S1:UM00086
1-16
Connection
confirmation
BKMV.US
S1:UM0008A
1-16
Servo lock
annunciation
BKMV.US
S1:UM000BA
1-16
Error occurrence
lock
lock
R1580
Axis 1 Axis 1 Error
Servo lock occurrence
annunciation
Axis 1 Busy
annunciation
BKMV.US
1-16
Servo ON
BKMV.US
1-16
Servo OFF
BKMV.US
1-16
Positioning start
7.1 How to Create User Programs
S1:UM00089
49-64
Connection
confirmation
S1:UM0008D
49-64
Servo lock
annunciation
S1:UM000BF
Virtual 17-32
Error occurrence
MV.US DT110
Position
control control starting table
starting table
WR406 WR409
49-64
Servo ON
WR412 WR415
49-64
Servo OFF
WR418 WR423
Virtual 17-32
Positioning start
WR106
1-16
Connection
confirmation
①
WR110
1-16
Servo lock
annunciation
WR158
1-16
Error occurrence
R4060
Axis 1 Servo
ON request
②
R4120
Axis 1 Servo OFF
R110
③
Axis 1 Start
enabled flag
S1:UM00990
Axis 1 Position
④
R4180
Axis 1
Positioning Start
S1:UM00186
1-16
Servo ON
⑤
S1:UM0018C
1-16
Servo OFF
S1:UM00192
1-16
Positioning start
7-3