Yaskawa MP2000 Manuel d'utilisateur télécharger pdf (Page 21)

MP2000 Quick Reference Guide Rev1.21

First complete the MP2000 Startup Procedure

Step Instruction Detail

1 Start a new Motion Program

In the Program window on the left, click the Motion tab.

Expand the folders, and R-click Main Program. Select New.

Give it a name and click OK.

Things to know before a Motion

Program is started

There are no commands for SERVO ON or JOG in the

Motion Programming Language. These steps are to be

accomplished in Ladder.

3 Write Motion Program

First line must be 'MPM001' and last line must be 'END;'.

Instructions terminate with semicolon. Comments enclosed

in quotes ("comment"). Refer to Motion Programming User

Manual (SIEZ-C887-1.3) for extensive details on each

command.

4 Save Motion Program Use save icon.

Step Instruction Detail

1 Use the MSEE instruction

MSEE is located under the "Motion" group under the Ladder

Instruction tab It can only be used in an H-drawing. Define

a starting address for the four 16-bit work registers in the

Data field. Often DA00000 is used defining DW00000

through DW00003, but be sure to use M or D registers that

are not used elsewhere.

2 Rules before starting

All axes in the group must have: 1) Servo On, 2) Motion

Command Code =0 and not continually updated to 0, 3) No

other motion program in same group runnin, in alarm, or

paused, 4) SERVOPACK self-writing function disabled -

FixedParameter 1 bit A=1.

3 Start the motion program

Bit 0 of the second word defined in the Data field

(DB000010 in the above example) must go high for the

motion program to start. See Motion Program Work

Registers in this QRG for more information.

4 Rules while running

Ladder code must not manipulate Motion Command Code,

unless motion language is not using the Motion Command

Code register the time, and proper interlocks are used to

flag the ladder code

Motion Program

Call From Ladder

Motion Program Startup Procedure

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Yaskawa MP2000 Manuel d'utilisateur Page 21

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