YASKAWA MP210 Series User Manual page 160

4 System Startup and Sample Programs
4.4.4 Operation Check 3: Phase Control - Electronic Shaft
(5) Sample Program Details
(a) H06.01 Drawing
The H06.01 grandchild drawing shows the ladder program for controlling phase control (electronic shaft)
operation.
P00118 H06.01
##########Electronic Shaft Operation Command##########
########## 電子ｼｬﾌﾄ運転指令 ##########
Electronic shaft startup PB
0000
0000
NL-1
0001
0004
NL-1
0002
0009
NL-1
########## ﾓｰｼｮﾝｺﾏﾝﾄﾞ発行 ##########
ﾓｰｼｮﾝｺﾏﾝﾄﾞ:25〔位相制御〕設定 Motion command 25 (phase control) setting
Electronic shaft start
0003
0013
NL-1
Electronic shaft start
0004
0015
NL-1
ﾓｰｼｮﾝｺﾏﾝﾄﾞ:0〔NOP〕設定
Electronic shaft stop
0005
0017
NL-1
Electronic shaft stop
0006
0019
NL-1
S-curve Acceleration/deceleration Setting
########## S字加減ﾊﾟﾗﾒｰﾀ設定 ##########
0007
0021
NL-1
Electronic Shaft Operation Speed Setting Switching Sequence
########## 電子ｼｬﾌﾄ運転速度設定切替ｼｰｹﾝｽ ##########
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.
速度指令単位に倍長整数型ﾚｼﾞｽﾀを使用する。この為、直線加減速指令2(SLAU:S字加減速器)命令の実数型を適用する。
Electronic shaft speed setting
電子ｼｬﾌﾄ速度設定
Electronic shaft operation command
0008
0022
NL-1
0009
0024
NL-1
4-66
Main Program Phase Control 1 (Electronic Shaft)
メインプログラム 位置制御１（電子ｼｬﾌﾄ）処理
Axis 1 SV_ON
電子ｼｬﾌﾄ起動PB 1軸SV_ON中
DB000010 IB80001
Electronic shaft opera-
Axis 1 motion command 0
tion command
電子ｼｬﾌﾄ運転指令 WORK
DB000000
DB000050
Electronic shaft opera-
Zero speed
tion command
電子ｼｬﾌﾄ運転指令 ゼロ速
DB000000 DB000003
Motion Command Issued
電子ｼｬﾌﾄ開始
Axis 1 motion command
1軸ﾓｰｼｮﾝｺﾏﾝﾄﾞ
DB000001
STORE
Source 00025
Dest OW8008
電子ｼｬﾌﾄ開始
Axis 2 motion command
2軸ﾓｰｼｮﾝｺﾏﾝﾄﾞ
DB000001
STORE
Source 00025
Dest OW8088
Motion command 0 (NOP) setting
電子ｼｬﾌﾄ停止
Axis 1 motion command
1軸ﾓｰｼｮﾝｺﾏﾝﾄﾞ
DB000002
STORE
Source 00000
Dest OW8008
電子ｼｬﾌﾄ停止
Axis 2 motion command
DB000002 2軸ﾓｰｼｮﾝｺﾏﾝﾄﾞ
STORE
Source 00000
Dest OW8088
S-curve acceleration/deceleration setting
S字加減ﾊﾟﾗﾒｰﾀ設定
EXPRESSION
DB000200 =true;
DB000200 =true;
DB000201 =true;
DB000201 =true;
DF00022 =30000.0;
DB00022 =30000.0;
DF00024 =0.1;
DB00024 =0.1;
DF00026 =0.1;
DB00026 =0.1;
DF00030 =0.01;
DB00030 =0.01;
DF00032 =0.01;
DB00032 =0.01;
電子ｼｬﾌﾄ運転指令
S-curve accelerator/decelerator input
Ｓ字加減速器入力
DB000000
STORE
Source DL00010
Dest DF00012
Electronic shaft opera-
tion command
電子ｼｬﾌﾄ運転指令
S-curve accelerator/decelerator input
Ｓ字加減速器入力
DB000000
STORE
Source 0.000000E+000
Dest DF00012
Phase Control 1 (Electronic Shaft)
########## 位置制御１（電子ｼｬﾌﾄ）処理 ##########
Axis 2 SV_ON 2軸SV_ON中
IB80801
Axis 1 motion command 0
1軸目ﾓｰｼｮﾝｺﾏﾝﾄﾞ0 1軸目ﾓｰｼｮﾝｺﾏﾝﾄﾞ0
DB000010 DB000018
WORK
DB000050
Electronic shaft operation command
電子ｼｬﾌﾄ運転指令
DB000000
Electronic shaft start
電子ｼｬﾌﾄ開始
DB000001
Electronic shaft stop
電子ｼｬﾌﾄ停止
DB000002