Panasonic AFP7MC16EC

7.1 How to Create User Programs
7-3
 Program example
The following program is simplified to show the whole configuration. The reading data from
the input control area is inserted in the beginning of the program, and the writing data to the
output control area is inserted at the end of the program.
R4060
R1100
Axis 1 Servo
ON request
②
Axis 1
Servo lock
R100
Servo ON
R4060
Axis 1 Servo
ON request
（ ）
DF
SR14
①
WR106
BKMV.US
S1:UM00089S1:UM00086
WR116
BKMV.US
S1:UM00095S1:UM00090
WR110
BKMV.US
S1:UM0008DS1:UM0008A
1-16
Connection
confirmation
1st scan OFF
49-64
Connection
confirmation
1-16
Connection
confirmation
1-16
Servo lock
49-64
Servo lock
1-16
Busy
Virtual 17-32
Busy
R4180
R110
R1160
Axis 1 Start
enabled
Axis 1
Positioning Start
Axis 1 Busy
X100
Link
establish-
ment
R120
Position control
start
R4180
Axis 1
Positioning Start
（ ）
DF
⑤
SR14
S1:UM00186
BKMV.US
WR409
WR406
1st scan OFF
X100
Link
establish
-ment
1-16 Servo ON
request
49-64 Servo ON
request
1-16 Servo ON
request
X100
X104
Link
establish
-ment
Tool
operation
R1060 R1100
Axis 1
Connection
confirmation
Axis 1
Servo lock
R1580
Axis 1 Error
annunciation
R110
Axis 1 Start
enabled
③
（ ）
DF
R120
S1:UM00990DT110
MV.US
Axis 1 Position
control starting table
Position control
start
④
Position control
starting table
R4120
R1100
R101
Servo OFF
R4120
Axis 1 Servo
OFF
request
（ ）
DF
S1:UM0018C
BKMV.US
WR415WR412
1-16 Servo OFF
request
49-64 Servo
OFF request
1-16 Servo OFF
request
S1:UM00192
BKMV.US
WR423WR418
1-16 Positioning
start request
Virtual 17-32
Positioning start
request
1-16 Positioning
start request
Axis 1 Servo
OFF request
Axis 1
Servo lock
1-16
Servo lock
1-16
Busy
WR158
BKMV.US
S1:UM000BF
S1:UM000BA
1-16
Error annunciation
Virtual 17-32
Error
annunciation
1-16
Error annunciation