YASKAWA MP210 Series User Manual page 155

(4) Procedure
Use the following procedure to operate the Tuning Panel and check operation.
1. Servo ON
Change the Current Value for Servo ON PB from OFF to ON.
The servomotor turns ON and the Servo will be clamped.
2. 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 (=MPM001):
002 (= MPM002):
003 (= MPM003):
Note: 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.
3. Set Target Position 1 and Target Position 2
Enter any value for the following settings. These settings determine the target position for positioning
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)
4. Positioning start
Change the Current Value for Positioning start from OFF to ON.
The program is executed and the model system operates according to the motion program set in step 2.
Once the operation has been checked, input OFF to stop the system.
When a motion program starts, the Current Value for MPM running changes to ON. Also, when the
Servo axis rotates, all Current Values changes.
Note: 1. If an error occurs during motion program execution, the current value for MPM alarm in the
Tuning Panel changes 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.
2. 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.
3. The register numbers that correspond to the signals used in this sample program are the register
numbers displayed under REG-No. next to DWG at the right of the Tuning Panel window.
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 linear interpolation
to target position 2, and then repeats this operation 5 times.
2.) In absolute mode, performs counterclockwise circular interpolation from
current position to home (0,0) (once).
Repeats the same operation as MPM002, but without an interval time.
4.4 Checking Sample Program Operation
4
4-61