YASKAWA MP2100 Series User Manual page 136

(8) Example of a Ladder Program for Motion Program Control
The minimum ladder program required to control a motion program is shown in the following illustration.
1 0000
1 0002
1 0005
1 0007
1 0009
1 0011
1 0013
The contents of this ladder program are shown in the following table.
Step
Number
1 Sets servo ON (OB80000) using the servo ON signal (IB00100), and turns the servo ON.
2 to 10 The signals connected to the MP2100/MP2100M external input signals are stored as the motion program
control signals.
IW0000 (external input signals) → DW00001 (second word of MSEE work registers)
• Program start
• Program pause
• Program stop
• Alarm reset
11, 12 Calls motion program MPM001
MSEE MPM001 DA00000
① Motion program number
② MSEE work register address
13, 14 Sets the alarm clear (OB8000F) using the alarm reset signal (IB00005), and clears the alarm.
When the external input signals (IB00000 to IB00005) connected to the MP2100/MP2100M are input to
DW00001 (second word of MSEE work registers) as motion program control signals using the ladder program
shown above, motion program operations such as run, stop, and pause can be performed by the system motion
management functions.
The following table shows an example of external input signals required to create the minimum
EXAMPLE
ladder program for running motion programs on the MP2100/MP2100M.
External
Signal
Address
IB00000
Program start
IB00001 Program pause
IB00002
Program stop
IB00005 Alarm reset
IB00100
IB00000 DB000300
IB00001
IB00002
IB00005
MSEE MPM001 DA00000
IB00005
① ②
External Signal Name
OB80000
Servo ON
DB000010
Program start
DB000011
Program pause
DB000012
Program stop
DB000015
Alarm reset
OB8000F
Alarm clear
Program Content
Bit No. Motion Program Control Signal
0
Program start request
1 Program pause request
2
Program stop request
5 Alarm reset request
6.3 User Programs
6
6-19