Operation Check 2: Position Control - YASKAWA MP2300 User Manual

4.4.3 Operation Check 2: Position Control

( 1 ) Operation Outline
In this example, an X-Y plotter like the one shown in the figure is operated by ladder and motion programs.
( 2 ) Program Outline
A ladder program (H04 Drawing) and three prepared sample programs (MPM001, MPM002, and MPM003) are used
to check the operation, as shown in the figure.
Programs MPM001 to MPM003 perform the following operations.
• MPM001: Zero point return using Servomotor phase-C
• MPM002: Axis 2 positioning and interpolation (with interval timer)
• MPM003: Axis 2 positioning and interpolation (without interval timer)
Motion programs are written in text format, and the listed commands and operations are executed in listed order.
Parent Drawing
H Drawing
SEE
Name H04
END
High-speed scan
 Refer to 4.4.3 ( 5 ) Sample Program Details on page 4-56 for details of each program.
 A simple device is used in this example to describe the MP2300 system startup.
 This device has no power OFF circuit for the SERVOPACK in the event of emergency stops or overtravel. Include a
proper emergency stop circuit in actual devices.
Servomotor
Y
X
X-Y plotter
Child Drawings
H04 Drawing
MSEE
Program No. 001
Data DA00020
END
4.4 Checking Sample Program Operation
Motion Programs
MPM003
Motion
MPM002
program
startup
MPM001
0W803C=3;
0W80BC=3;
VEL[X]100[Y]100;
ACC[X]100[Y]100;
4
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