YASKAWA JEPMC-MP2300-Y Series User Manual page 89

( 4 ) Procedure
Use the following procedure to operate the Tuning Panel and check operation.
1.
2.
3.
4.
Servo ON
Change the Servo ON PB current value from OFF to ON.
The Servomotor will turn ON and the Servo will be clamped.
Motion program No. setting
Enter a value from 1 to 3 as the current value for the Motion Program No. setting to specify the
motion program to be executed.
001 (=PMP001):
002 (= PMP002):
003 (= PMP003):
No programs have been created for numbers 004 and higher. An MPM alarm will occur if
004 or higher numbers are entered and operation is started.
Set Target Position 1 and Target Position 2
Enter any value for the following settings. These settings determine the target position for posi-
tioning when Motion Program No. 2 and No. 3 are executed.
1st target position (X axis)
1st target position (Y axis)
2nd target position (X axis)
2nd target position (Y axis)
Positioning, start
Change the current value for Positioning, start from OFF to ON.
The program will be executed and the model system will operate according to the motion pro-
gram set in step 2. Once the operation has been checked, enter OFF and stop the system.
When a motion program starts, the current value for MPM running will change to ON. Also,
when the Servo axis rotates, all Current Values will change.
If an error occurs during motion program execution, the current value for MPM alarm in the Tuning
Panel will change to ON. Use the following procedure to clear alarms.
1. Set the current value for Positioning, abort to ON then OFF.
2. Set the current value for Alarm reset PB to ON then OFF.
It is necessary to create routines within the actual application program in order to monitor and
control the registers corresponding to the signals and data listed in the table 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.
2.2 Checking Sample Program Operation
Program for executing zero point return using Servomotor phase-
C. When this program is executed, X axis (axis 1) and Y axis
(axis 2) rotate a set distance once a phase-C pulse has been
input, and then return home.
Repeats the following two operations with an interval time.
1.) Moves to target position 1 in incremental mode, performs lin-
ear interpolation to target position 2, and then repeats this opera-
tion 5 times.
2.) In absolute mode, performs counterclockwise circular interpo-
lation from current position to home (0,0) (once).
Repeats the same operation as PMP002, but without an interval
time.
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