Yaskawa MotionWorks+ Windows Software - Manual (Page 184)

Standardized Template Project MotionWorks+™
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B.1 Summary
This appendix outlines the details of a template example program for an MP-940/SGDH
system. In particular, it was designed with the Yaskawa demonstration (YEA Part #
DEMO4700) unit in mind; however, it can be modified to suit virtually any application,
and is commonly used as a starting point when programming the MP940 using Motion-
Works+.
There are three main programs: Supervisor, Manual, & Automatic. The Supervisor pro-
gram is the only of the three that is auto-starting. Once it starts and conditions are satis-
fied, it starts both the Manual & Automatic programs. In addition, there are seven
subroutines: 02 Jog+, 03 Jog-, 04 Home, 05 Move, 06 Gear, 07 Cam, 08 Torque, and 09
Latch.
While the Manual & Automatic programs are running, various conditions must be met in
order for them to start a subroutine. Both of these programs, as well as the configuration
for the system, will be discussed. This will be completed in the order in which a program
in MotionWorks+ is laid out, according to the Project Explorer window.