Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 334)

App
B Sample Programs
A-13
B.1 Programs for Controlling Motion Program Execution
Sample ladder and sequence programs to control execution of motion program are shown below.
(1) Ladder Program
Registers the motion program to
run by using an MSEE command.
The motion program starts running
when IB00001 turns ON.
The servo turns ON when
IB00000 turns ON.