Yaskawa MP940-MW+ - Manual (Page 10)

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 10 of 34 eng/PubNumber/MCD
2: Manual
Functions typically performed while in a “manual” mode are included in the manual main
program. While this program is executing it is waiting for the user to activate an input to select a
subroutine program. As long as no input is selected the program scans the blocks in order of 3,
4, 5, 6, 9, and 11 then back to 3.
Two key features in this program are important to mention. First, if event block (3)
detects if (user variable) [SystemOk] is true. As long as this condition is true the program will
stay running (recall SystemOk is controlled by the supervisor program). Second, input block (4)
ensures that (Manual Mode) [!Local_Input2] has been selected. This is a critical interlock that
guarantees that more than one main program is not attempting motion at the same time. This
can be especially unsettling if one program is running the servo in camming mode and another
program is attempting to jog.