User Programs; Drawings (Dwgs); Execution Control Of Drawings - YASKAWA MP210 Series User Manual

The following table provides details of the number of drawings for each drawing.
Drawing
Parent Drawing
Operation Error Pro-
cessing Drawing
Child Drawings
Grandchild
Drawings

5.2.2 Execution Control of Drawings

(1) Execution Control
The following table shows when each drawing is executed based on the order of priority.
DWG.A
Startup processing drawings
Each high-speed scan
Input all
Output all
DWG.H
High-speed scan
processing drawings
(2) Execution Schedule for Scan Process Drawings
The scan processing drawings are not executed simultaneously. As shown in the following figure, the execution
of each drawing is scheduled based on the order of priority and time sharing.
High-speed scan
DWG.H
DWG.L
Background*
* Background processing is used to execute internal system processing, e.g., communication processing.
Low-speed scan processing is executed in spare processing time of the high-speed scan. Set the time of the high-
speed scan to approximately double the total execution time for DWG.H.
DWG.A DWG.I
1 (A) 1 (I)
1 (A00) 1 (I00)
Total: 62 max. Total: 62 max.
Power ON
Each low-speed scan
Input all
Output all
DWG.L
Low-speed scan
processing drawings
Low-speed scan
High-speed scan High-speed scan
: Executing
Number of Drawings
DWG.H
1 (H)
1 (H00)
Total: 198 max.
Operation error
∗
DWG. X00
Operation error processing
drawings
∗
X:A,I,H or L
Continuation of
processing before
error occurred
High-speed scan

5.2 User Programs

DWG.L
1 (L)
1 (L00)
Total: 498 max.
Interrupt signal
DWG. I
Interrupt processing
drawings
Continuation of
processing before
error occurred
5
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