TECHNICAL NOTE
MOTION APPLICATION ENGINEERING GROUP
Yaskawa Electric America - 2121 Norman Drive South – Waukegan IL 60085
(800) YASKAWA - Fax (847) 887-7280
11/23/2005 48 of 48 eng/05.055/MCD
Rules For Motion Programming
The MP2000 series of motion controllers offer a powerful, yet flexible text-based motion
programming language that lends itself well to many applications, especially those that involve
linear interpolation or complex motion sequences. As always, the user is free to program as
desired, but experience has shown that following a few simple guidelines, as illustrated in this
section, will help the programmer produce a motion program and related ladder code that is
robust, easy to troubleshoot, and easy to modify.
These guidelines are explained in detail and illustrated with examples in the pages that follow.
• Starting a Motion Program
• Active Interlocks During Motion Program Execution
• Stopping a Motion Program
• Bit Handshaking between Motion Program and Ladder Code
• Using WHILE loops in Motion Programs
• Using PFORK, JOINTO, and PJOINT in Motion Programs
• Using Subroutines in Motion Programs
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