YASKAWA JEPMC-MP2300-Y Series User Manual page 95

H06.01 Drawing - (2)
Motion command 0 (NOP) setting
Electronic shaft stop
Axis 1 motion command
DB000002
0005
0017
Source 00000
NL-1
Dest OW8008
Electronic shaft stop
DB000002 Axis 2 motion command
0006
0019
Source 00000
NL-1
Dest OW8088
S-curve Acceleration/deceleration Setting
S-curve accelerator/decelerator input
0007
EXPRESSION
0021
NL-1
DB000200 =true;
DB000201 =true;
DB00022 =30000.0;
DB00024 =0.1;
DB00026 =0.1;
DB00030 =0.01;
DB00032 =0.01;
Electronic Shaft Operation Speed Setting Switching Sequence
A double-length integer register is used for speed reference unit. Therefore, a real number is used for the linear accelerator/decelerator 2 (SLAU: S-curve accelerator/decelerator) instruction.
Electronic shaft speed setting
Electronic shaft operation command
S-curve accelerator/decelerator input
DB000000
0008
0022
Source DL00010
NL-1
Electronic shaft
operation command
DB000000 S-curve accelerator/decelerator input
0009
0024
NL-1
S-curve accelerator/decelerator gear output
0010 SLAU
0026
Input DF00012
NL-1
Parameter DA00020
Output DF00040
Axis 1 and Axis 2 Speed Command Settings
Electronic Shaft Operation Command
DB000000
0011
0027
Zero speed
NL-1
DB000003
Zero speed
DB00020A
0012
0030
NL-1
##########Monitor for Deviation between Axes##########
0013 ADD
0032
SourceA IL8016
NL-1
SourceB IL8096
Dest DL00090
0014
0033
NL-1
STORE
STORE
STORE
Dest DF00012
STORE
Source 0.000000E+000
Dest DF00012
Axis 1 and axis 2 speed command settings
EXPRESION
OL8010 = DF00040;
OL8090 = DF00040*-1;
2.2 Checking Sample Program Operation
END
Zero speed
DB000003
2-51