YASKAWA MP210 Series User Manual page 147

(b) H01 Drawing
The H01 child drawing turns ON the Servo, resets alarms, and sets common parameters.
P00102 H01 Main Program: Axis Common Settings
########## Motion Command Detection ##########
Axis 1 motion command 0 detection
0000
=
0000
SourceA IW8008
NL-1
SourceB 00000
Axis 2 motion command 0 detection
0001
=
0002
SourceA IW8088
NL-1
SourceB 00000
########## Servo ON Command ##########
Axis 1 Servo ON
Servo ON PB
MB300000
0002
0004
NL-1
Axis 2 Servo ON
Servo ON PB
MB300000
0003
0007
NL-1
########## Alarm Reset ##########
Axis 1 alarm reset
Alarm reset PB
MB300001
0004
0010
NL-1
Axis 2 alarm reset
Alarm reset PB
MB300001
0005
0012
NL-1
########## Speed Unit and Acceleration/Deceleration Unit Selection ##########
Bits 0 to 3: Speed Unit Selection (0: Reference unit/s; 1: Reference unit/min.; 2: Percentage)
Bits 4 to 7: Acceleration/Deceleration Unit Selection (0: Reference unit/s; 1: ms)
Axis 1 Function Settings 1 (unit)
Axis 1 Function Settings 1 work
0006
AND
0014
SourceA OW8003
NL-1
SourceB H0F00
Dest DW00010
Axis 1 Function Settings 1
0007
OR
0015
SourceA DW00010
NL-1
SourceB H0011
Dest OW8003
Axis 2 Function Settings 1 (Unit)
Axis 2 Function Settings 1 work
0008
AND
0016
SourceA OW8083
NL-1
SourceB H0F00
Dest DW00012
Axis 2 Function Settings 1
0009
OR
0017
SourceA DW00012
NL-1
SourceB H0011
Dest OW8083
########## Action Common Settings ##########
Axis 1 SVC_RDY
IB80000
Axis 1 SYS_BUSY
IB80002
Axis 2 SVC_RDY
IB80800
Axis 2 SYS_BUSY
IB80802
4.4 Checking Sample Program Operation
Axis 1 motion command 0
MB300010
Axis 2 motion command 0
MB300018
Axis 1 SV_ON
OB80000
Axis 2 SV_ON
OB80800
Axis 1 ALM_RST
OB8000F
Axis 2 ALM_RST
OB8080F
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