Yaskawa MP900 Series Ladder Programming Manual Manual de usuario Pagina 148
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5.5 Program Control Instructions
5.5.2 Call Motion Program (MSEE)
5-79
Instructions
5
( 3 ) Programming Examples
The following programming examples show how to execute the motion program MPM001 with program number 1.
When the IB00000 relay turns ON, the Request for Start of Program Operation (DB000010) in the control signals turns
ON and executes the MPM001 motion program.
• Direct Designation
The program number is directly set to 1.
• Indirect Designation
The program number is set in MW00000.
Continue execution of the MSEE instruction until execution of the motion program is completed.
When using indirect designation, do not change the register value until the execution of the motion program is
completed.
IMPORTANT
- USER'S MANUAL 1
- LADDER PROGRAMMING 1
- About this Manual 3
- Using this Manual 3
- MP2000-series Manuals 3
- Related Manuals 4
- Safety Information 6
- Safety Precautions 7
- Warranty 8
- ( 3 ) Suitability for Use 9
- ( 4 ) Specifications Change 9
- Contents 10
- Revision History 15
- Controllers 18
- 1.2.2 Program Modules 19
- SIEP C880732 01) for details 20
- Optional Module 30
- 3.1.4 System Startup 31
- 3.1.5 Creating a Project 32
- 2. Click the OK Button 33
- Right-click 34
- Drag and drop 34
- IMPORTANT 35
- Double-click 38
- Enter “MB000000.” 38
- 2. Click the Start Button 41
- Programming 42
- 4.1 Ladder Program Editor 43
- 4.2 Ladder Drawings 44
- 4.3 User Functions 48
- Enter “FUNC01.” 50
- 4.4 Registers (Variables) 54
- 4.4.2 Register Types 55
- ( 2 ) Local Registers 56
- 4.4.3 Data Types 58
- 4.4.4 Index Registers (i, j) 60
- 4.5 Table Data 62
- 4.5.2 Creating Table Data 63
- 4.6 Transferring Data 64
- 4.8 Advanced Programming 66
- 4.8.2 C-language Programs 67
- 4.8.3 Security 68
- Project Password Setting 68
- Program Password Setting 68
- Online Security Setting 68
- 4.8.4 Tracing 69
- Realtime Tracing 69
- Data Tracing 69
- XY Tracing 69
- 5.2.1 NO Contact (NOC) 74
- 5.2.2 NC Contact (NCC) 75
- 5.2.9 Coil (COIL) 88
- 5.2.10 Set Coil (S-COIL) 89
- 5.2.11 Reset Coil (R-COIL) 90
- 5.3.1 Store (STORE) 91
- 5.3.2 Add (ADD (+)) 93
- 5.3.4 Subtract (SUB (−)) 97
- ( 3 ) Programming Examples 100
- 5.3.6 Multiply (MUL (x)) 101
- Instructions 102
- 5.3.7 Divide (DIV (÷)) 103
- ( 1 ) Operation 105
- ( 2 ) Format 105
- 5.3.9 Real Remainder (REM) 107
- Condition n 107
- Key entry: INC 109
- 5.3.11 Decrement (DEC) 111
- Output Data Behavior 111
- 5.3.12 Add Time (TMADD) 113
- ( 3 ) Programming Example 114
- 5.3.13 Subtract Time (TMSUB) 115
- 5.3.14 Spend Time (SPEND) 117
- 5.3.15 Invert Sign (INV) 120
- 5.3.17 Absolute Value (ABS) 122
- 5.3.19 BCD Conversion (BCD) 124
- 5.4.1 Inclusive AND (AND) 132
- 5.4.2 Inclusive OR (OR) 134
- 5.4.3 Exclusive OR (XOR) 136
- 5.4.4 Less Than (<) 138
- Input data AInput data B 139
- Key entry: <= 139
- 5.4.6 Equal (=) 140
- 5.4.7 Not Equal (≠) 141
- Key entry: > 143
- 5.4.10 Range Check (RCHK) 144
- Work Register Configuration 147
- Parameter Table Configuration 151
- First address of 153
- ( 4 ) Additional Information 159
- Variable > Maximum value? 160
- 5.6.1 Square Root (SQRT) 168
- 5.6.2 Sine (SIN) 170
- Input data 172
- Output data 172
- 5.6.5 Arc Sine (ASIN) 175
- Input Data Range 175
- 5.6.6 Arc Cosine (ACOS) 176
- 5.6.7 Arc Tangent (ATAN) 177
- Input data Output data 179
- 5.7 Data Shift Instructions 181
- 5.7.3 Move Bit (MOVB) 185
- 5.7.4 Move Word (MOVW) 187
- 5.7.5 Exchange (XCHG) 189
- 5.7.9 Binary Search (BSRCH) 197
- 5.7.10 Sort (SORT) 199
- 5.7.13 Copy Word (COPYW) 205
- 5.7.14 Byte Swap (BSWAP) 207
- 5.8 DDC Instructions 208
- Input value Output value 210
- Dead zone set value 210
- Key entry: DZB 210
- 5.8.4 PI Control (PI) 214
- 5.8.5 PD Control (PD) 219
- 5.8.6 PID Control (PID) 225
- 5.8.7 First-order Lag (LAG) 230
- 5.8.8 Phase Lead Lag (LLAG) 233
- If DVDTS = ON, DVDT = 250
- (V – V' ) × 5,000 250
- DVDT = V - V’ 251
- (DB000001) three times 291
- Error Codes 293
- 5.10.1 Counter (COUNTER) 294
- Key entry: TRACE 301
- Structure of Read Data 303
- Processing Result (PARAM00) 312
- Status (PARAM01) 313
- Function Code (PARAM04) 314
- Data Addresses 315
- Key entry: MSG-RCV 323
- Status (PARAM01) 324
- Data Address (PARAM05) 325
- Data Size (PARAM06) 325
- Remote CPU Number (PARAM07) 325
- Error Code (PARAM01) 341
- Copy of Cir-No (PARAM02) 341
- Copy of St-No (PARAM03) 341
- For System Use #1 (PARAM04) 341
- For System Use #2 (PARAM05) 342
- For System Use #3 (PARAM06) 342
- ON coils are 356
- Current values of 356
- 6.2 Searching/Replacing 357
- 6.3 Cross References 358
- 6.5 Forcing Coils ON and OFF 359
- 6.6 Viewing Called Programs 360
- 6.7 Register Lists 360
- 6.8 Tuning Panel 361
- Ladder drawing 362
- MPE720 version 6 363
- Troubleshooting 364
- 7.2 Indicator Status 366
- 7.3 Problem Classifications 367
- 7.4 Detailed Troubleshooting 369
- Troubleshooting Method 2 371
- 7.4.2 I/O Errors 372
- 7.4.3 Watchdog Timer Errors 373
- 7.4.5 System Errors 374
- Appendix A 375
- A.1 System Service Registers 376
- ( 2 ) Exclusive to DWG.H Only 377
- ( 3 ) Exclusive to DWG.L Only 378
- System Registers 379
- A.2 System Status 380
- A.3 System Error Status 381
- A.3 System Error Status 382
- Error Code 383
- Index error 383
- A.7 System I/O Error Status 386
- A.9 Interrupt Status 388
- A.10 Module Information 389
- A.11 MPU-01 System Status 390
- Appendix B 393
- Programs 394
- 2. Click Select 396
- Appendix C 397
- Configuration Example 398
- Ladder Programming Example 398
- C.2 Motion Program Control 399
- Motion Programming Example 400
- Procedure 402
- Appendix D 403
- ( 1 ) Operators 404
- ( 2 ) Operands 405
- D.2 National Limitations 407
- D.2.4 Substitution Operator 408
- D.2.5 Functions 408
- D.2.6 Others 408
- Arrays 408
- Appendix E 409
- E.1 General Precautions 410
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