YASKAWA MP2100 Series User Manual page 75

(2) Confirming Operation
Use the following procedure to confirm operation.
The process for confirming operation will be explained based on the above procedure.
1. Switching between Servo ON and Servo OFF
Change the current value setting for Servo ON PB from OFF to ON on the Tuning Panel Window. The
Servomotor will turn ON and the Servo will be clamped.
2. Setting Motion Program Number
Change the current value setting for Motion Program No. Setting to a value between 1 and 3 on the Tun-
ing Panel Window. This sets the motion program number that will be executed. No programs have been
created for numbers 4 onwards, so an MPM alarm will occur if a number other than 1 to 3 is entered.
3. Entering Target Value for Each Axis
Enter any value for the current value for the items listed below. The values entered here will be the posi-
tioning target values when motion program numbers 2 and 3 are executed.
• 1st target value (X axis)
• 1st target value (Y axis)
• 2nd target value (X axis)
• 2nd target value (Y axis)
4. Starting Positioning
Set the current value for Start Positioning to ON on the Tuning Panel Window. Positioning will start based
on the motion program number set earlier (MPM No.). After positioning has been executed, change the
current value to OFF.
5. Confirming Motion Program Operation
When a motion program is started, the current value for MPM Running on the Tuning Panel Window will
change to ON. And when the Servo axis rotates, the values for the current position on the Tuning Panel
Window change.
If an error occurs during execution of a motion program, the current value for MPM Alarm on the Tuning
IMPORTANT
Panel Window will change to ON. Use the following procedure to clear the alarm.
1. Change the current value for Abort of Positioning to ON and then to OFF.
2. Change the current value for Alarm Reset PB to ON and then to OFF.
■ Actual Application Programs
INFO
Programs must be created in actual applications to monitor and control registers that correspond to the signals and data
listed above. The register numbers that correspond to the signals used in this sample program will be the register numbers
displayed under REG-NO. next to DWG at the right of the Tuning Panel Window.
Turn Servo ON.
Enter motion program number setting.
Enter target position for each axis.
Start positioning.
Confirm motion program operation.
3.3 Sample Program 2: Positioning Control
3
3-47