Creating User Programs - YASKAWA SGD7C-***AMAA*** Product Manual

Creating User
Programs
The chapter describes how to create user programs for the
Controller Section.
7.1 User Program Types and Execution Timing . . 7-3
7.1.1 Ladder Programs . . . . . . . . . . . . . . . . . . . . . . . . 7-3
7.1.2 Motion Programs . . . . . . . . . . . . . . . . . . . . . . . 7-11
7.1.3 Sequence Programs . . . . . . . . . . . . . . . . . . . . . 7-23
7.1.4 The M-EXECUTOR Function Module . . . . . . . . . 7-25
7.1.5 Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-26
7.2 Creating Ladder Programs . . . . . . . . . . . . 7-38
7.3 Creating Motion Programs . . . . . . . . . . . . 7-42
7.3.1 Creating a Group Definition . . . . . . . . . . . . . . . . 7-42
7.3.2 Creating a Motion Main Program . . . . . . . . . . . 7-43
7.3.3 Creating a Motion Subprogram . . . . . . . . . . . . . 7-45
7.4 Creating a Sequence Program . . . . . . . . . 7-47
7.4.1 Creating a Sequence Main Program . . . . . . . . . 7-47
7.4.2 Creating a Sequence Subprogram . . . . . . . . . . 7-48
7.5 Transferring Data with the MPE720 . . . . . . 7-50
7.5.1 Writing Parameters to the SERVOPACK . . . . . . 7-51
7.5.2 Writing into a Project File . . . . . . . . . . . . . . . . . 7-52
7.5.3 Reading from the SERVOPACK . . . . . . . . . . . . . 7-53
7.5.4 Reading from a Project File . . . . . . . . . . . . . . . . 7-53
7.5.5 Saving to Flash Memory . . . . . . . . . . . . . . . . . . 7-54
7.5.6 Comparing to the SERVOPACK . . . . . . . . . . . . . 7-55
7.5.7 Comparing Flash Memory and RAM Data . . . . . 7-55
7.5.8 Comparing to a Project File . . . . . . . . . . . . . . . . 7-55
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