Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 341)

Appendices
B.5 Sequence Programs
A-20
Sequence subprogram (SPS003)
"SPS003: JOG & STEP operation process "
"---------------------------------------
" JOG operation
"---------------------------------------
IF IB80001 & ( (DB000010 & !DB000011) | (!DB000010 & DB000011) ) == 1;
DB000000 = 1;
ELSE;
DB000000 = 0;
IEND;
DB000001 = PON( DB000000 DB000050 ) & MB300010; "JOG operation starts
DB000002 = NON( DB000000 DB000051 ); "JOG operation stops
IF DB000001 == 1;
OL8010 = 1000;
OW8008 = 7; "
Motion command FEED
IEND;
IF DB000002 == 1;
OW8008 = 0; "
Motion command NOP
IEND;
"---------------------------------------
" STEP operation
"---------------------------------------
IF IB80001 & ( (DB000012 & !DB000013) | (!DB000012 & DB000013) ) == 1;
DB000008 = 1;
ELSE;
DB000008 = 0;
IEND;
DB000009 = PON( DB000008 DB000058 ) & MB300010; "STEP operation starts
DB00000A = NON( DB000008 DB000059 ); "STEP operation stops
IF DB000009 == 1;
OL8010 = 1000; "
STEP speed setting
OW8044 = 1000; "STEP moving amount setting (1000 pulses)
OW8008 = 8; " Motion command STEP
IEND;
IF DB00000A == 1;
OW8008 = 0; "Motion command NOP
IEND;
"---------------------------------------
" Reverse rotation selection
"---------------------------------------
OB80092 = ( DB000000 & DB000011 ) | ( DB000008 & DB000013 ); "Reverse rotation selection
RET;
Starts JOG operation
(forward rotation) when
DB000010 turns ON.
Starts STEP operation
(forward rotation) when
DB000012 turns ON.
Starts JOG operation
(reverse rotation) when
DB000011 turns ON.
Starts STEP operation
(reverse rotation) when
DB000013 turns ON.