Yaskawa MotionWorks+ Windows Software - Manual (Page 186)

Standardized Template Project MotionWorks+™
180
The Supervisor routine utilizes the Servo ON, Stop, and Change Dynamics block, but is
closely monitoring the other programs to ensure that there is no overlapping. Some pre-
cautions must still be followed with the use of Motion blocks.
Supervisor Program
The Supervisor can be separated into four distinct sections: Start-up, Fault Detection, Dis-
able Handler, and Fault Recovery.