Yaskawa MP940-MW+ - Manual

TECHNICAL NOTE
MOTION PRODUCT AND ENGINEERING GROUP
Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085
(800) YASKAWA - Fax (847) 887-7280
5/22/2003 1 of 34 eng/PubNumber/MCD
Subject: MotionWorks+ Simple Template Program
Product: MP-940, MotionWorks+ v2.83 or later
Engineer: Michael J. Miller
Who should read this document?
Anyone is who is attempting to program an MP-940 Machine Controller, using MotionWorks+
programming environment. This document illustrates a standardized template program to be used
while programming the MP-940 with MotionWorks+. The template includes three main programs:
1) Supervisor
2) Manual
3) Automatic
In addition, eight subroutines are called from two of the main programs. The subroutines include:
1) Jog Forward
2) Jog Reverse
3) Homing
4) Indexing with Programmable Limit Switch (PLS)
5) Gearing
6) Camming
7) Torque
8) Latch with PLS
The program described in this document is meant to be used a starting point for virtually all MP-940
with MotionWorks+ applications. Make use of the subroutines that are appropriate for the application
and discard the subroutines that are not.