Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 64)

4 Motion Programs
4.4.2 Controlling the Motion Program Directly from an External Device
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4.4.2 Controlling the Motion Program Directly from an External Device
The M-EXECUTOR Module has a function used to allocate the M-EXECUTOR’s control register to a desired
register.
With this function, data can automatically be exchanged between the M-EXECUTOR’s control register and the I/
O register connected to an external device. Thus, this function allows an external device to directly control the
motion program.
The following diagram shows a setting example for this function.
The allocated interlock contact is used as an interlock for motion program execution. Always allocate an inter-
lock contact in Allocation Contact interlock when allocating a register in Allocation register.
The following processes are executed according to the ON/OFF status of the allocated interlock contact.
• When the allocated interlock contact is ON, the allocated register exchanges data with the M-EXECUTOR control reg-
ister in a high-speed scan cycle, and motion program execution is enabled during the data exchange.
• When the allocated interlock contact is OFF, the allocated register does not exchange data with the M-EXECUTOR
control register, and motion program execution is disabled.
• When the Allocation Contact interlock is changed from ON to OFF while the motion program is running, the motion
program will stop running and the axes will stop moving. At this moment, the motion program alarm “1Bh: Emergency
Stop Command in Execution” will occur, and bit 8 (Program alarm occurring) of the status flag will turn ON.
Use the following procedure to restart the motion program.
1. Set the interlock contact from OFF to ON.
2. Set bit 5 (Program reset and alarm reset request) of the control signal to ON.
3. Confirm that bit 8 (Program alarm) of the status flag turns OFF.
4. Set bit 5 (Program reset and alarm reset request) of the control signal to OFF.
5. Set bit 0 (Program operation start request) of the control signal to ON.
Signals from external device
Program number
Program operation start
Program pause
Program stop, etc.
Allocated
interlock
contacts
References the
M-EXECUTOR
control registers
Set desired registers for Allocation register and
Allocation Contact interlock.
Allocated registers
Program number
Data will be
exchanged
in high-speed
scan cycle.
Host PLC
Touch panel
Switch
LED, etc
External devices
MPM001
END
Execution control by
motion management function
Motion program
VEL [a1] 5000 [b1]..
FMX T10000000;
IAC T25;
IDC T30;
MOV [a1] 300. [b1]..
MVS [a1] 200. [b1]..
.
.
.
.
Status
Control signal
M-EXECUTOR Register Allocation window
Override for interpolation
INFO