YASKAWA MP2300 - Page 135

4.4
Checking Sample Program Operation
4-61
4
System Startup and Sample Programs
0027
NL-1
0011
0030
NL-1
0012
0032
NL-1
0013
0033
NL-1
0014
0026
NL-1
0010
Zero speed
DB000003
Zero speed
DB00020A
DB000003
##########Monitor for Deviation between Axes##########
ADD
SourceA IL8016
Dest DL00090
SourceB IL8096
Axis 1 and axis 2 speed command settings
OL8010 = DF00040;
OL8090 = DF00040*-1;
EXPRESION
Electronic Shaft Operation Command
DB000000
END
Axis 1 and Axis 2 Speed Command Settings
SLAU
S-curve accelerator/decelerator gear output
Parameter DA00020
Output DF00040
Input DF00012
Zero speed
0017
NL-1
0005
0019
NL-1
0006
0021
NL-1
0007
0022
NL-1
0008
0024
NL-1
0009
STORE
Axis 1 motion command
Source 00000
Dest OW8008
STORE
Axis 2 motion command
Source 00000
Dest OW8088
Electronic shaft stop
DB000002
Motion command 0 (NOP) setting
S-curve Acceleration/deceleration Setting
Electronic Shaft Operation Speed Setting Switching Sequence
Electronic shaft speed setting
Electronic shaft stop
DB000002
EXPRESSION
S-curve accelerator/decelerator input
DB000200 =true;
DB000201 =true;
DB00022 =30000.0;
DB00024 =0.1;
DB00026 =0.1;
DB00030 =0.01;
DB00032 =0.01;
A double-length integer register is used for speed reference unit. Therefore, a real number is used for the linear accelerator/decelerator 2 (SLAU: S-curve accelerator/decelerator) instruction.
Electronic shaft operation command
DB000000
Electronic shaft
operation command
DB000000
STORE
Source DL00010
Dest DF00012
STORE
S-curve accelerator/decelerator input
S-curve accelerator/decelerator input
Source 0.000000E+000
Dest DF00012