YASKAWA MP2100 Series User Manual page 132

(3) Motion Program Control Signals
To execute a motion program called from a DWG.H by the MSEE instruction, program control signals (such as
program start requests and program stop requests) must be input. The second word in the MSEE work registers
contains the control signals. The signals used to control motion programs are shown in the following table.
Bit No.
0 Program start request
1 Program pause request
2 Program stop request
3 Program single block mode selection
4 Program single block start request
5 Alarm reset request
6 Program continuous operation start request
8 Skip 1 information
9 Skip 2 information
D
System work number setting
E
Interpolation override setting
* 1. System Work Number Setting
OFF: The system work number is automatically defined by the system. The system work number may be different each
time.
ON: The system work number can be set with the fourth word of MSEE work register.
* 2. Interpolation Override Setting
OFF: Interpolation override fixed at 100%.
ON: The interpolation override set with third word of MSEE work register is used.
For the ladder program inputs, make sure the signals are in accordance with the signal type.
The program will be executed if the program start request signal has been turned ON when the power is
IMPORTANT
turned ON.
The following illustration shows the method of executing a motion program.
Motion program
number
Signal Name
*1
*2
Motion management functions
External control signals
• Operation start
• Program start
• Pause
• Program pause
• Stop
• Program stop
Program control
signals
DWG.H
Ladder program for
motion program
control
MSEE MPM001 DA00000
.
.
.
.
.
.
MSEE work
.
register address
.
.
.
.
DEND
Ladder program
Signal Type
Differential or NO contact input
NO contact
NO contact
NO contact
Differential or NO contact input
NO contact
Differential or NO contact input
NO contact
NO contact
NO contact
NO contact
MSEE work register
DW
DW +1 Control signals
DW +2 Interpolation override
DW +3 System work number
MPM001
VEL [a1] 5000 [b1]..
FMX T10000000;
IAC T25;
IDC T30;
MOV [a1] 300. [b1]..
MVS [a1] 200. [b1]..
.
.
.
.
.
.
.
END
Motion program
6.3 User Programs
Status
6-15
6