Yaskawa MotionWorks+ Windows Software - Manual (Page 191)

MotionWorks+™ Standardized Template Project
185
Automatic Program
Functions typically performed while in an “automatic” mode are included in the automatic
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, and not in manual
mode, the program scans the blocks in order of 3, 4, 21, 8, 11, 21 then back to 3.
Two key features in this program are important to mention. First, IF EVENT block (3)
detects if the user variable [SystemOk] is true. As long as this condition is true the pro-
gram will stay running (remember, SystemOk is controlled by the supervisor program).
Second, the IF EVENT block (4) ensures that the user variable [!ModeManual] has been
selected (in other words that the machine is not in manual mode, but rather automatic
mode). 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 disruptive if the “Automatic”
program is running the servo in camming mode and the “Manual” program is attempting
to jog.
Automatic mode operation additionally requires that the system be homed prior to activat-
ing any of the automatic subroutines. If a user puts the machine in automatic mode, and
attempts to execute an automatic subroutine that has not been homed, the corresponding
output will flash instead of operating normally as described in “B.3 Subroutines” below.