YASKAWA MP210 Series User Manual page 195

• Timing Chart for Motion Program Control Signals
The following figure shows an example of a timing chart for motion program control signals.
<Program Operation Start Request>
Control signal: Operation start request
<Pause Request>
Control signal: Operation start request
Control signal: Pause request
Status: Operating
<Stop Request>
Control signal: Operation start request
Control signal: Stop request
Control signal: Alarm clear
Status: Operating
Distribution (MVS)
Distribution (MOV)
Note: An alarm will occur if the stop request is turned ON during axis operation using a motion command.
(3) Interpolation Override (DA+2)
The override when executing interpolation travel commands (setting; unit: 1 = 0.01%) is set in the third word of
the MSEE work registers (DA+2).
This interpolation override is enabled only when the motion program control signal bit E (interpolation override
setting) is ON.
(4) System Work Number (DA+3)
The system work number n (setting range: 1 to 16) used when executing motion programs is set by the fourth
word of the MSEE work registers (DA+3).
This system work number is enabled only when the motion program control signal bit D (system work number
setting) is ON. The status bit, bit E (No system work error), will turn ON if the work number setting is outside the
setting range or the specified system work is in use.
Status: Operating
Distribution
Status: Paused
Distribution
Status: Stopped
Status: Alarm
One scan
One scan
One scan
5.2 User Programs
5
5-17