Motion Program - YASKAWA MP210 Series User Manual

5 Outline of Motion Control Systems

5.2.3 Motion Program

5.2.3 Motion Program
Motion programs are written in a text-based language called motion language. Up to 256 motion programs can be
created separate from ladder drawings.
The following table shows the two types of motion programs.
Classification
Main Programs
Subprograms
IMPORTANT
To specify a motion program, use either of the following two methods: direct specification of the program num-
ber or indirect specification by specifying the register number where the program number is stored.
Setting device
Stored in register
MW00200.
∗
5-12
Designation Method
MPM 1 to 256
MPS 1 to 256

Each MPM and MPS
With the MP2100, up to 16 motion programs can be executed at the same time. If 17 or more motion programs
are executed, an alarm (no system work error) will occur.
• No system work error: Bit E in the first word of the MSEE work registers
MOTION PROGRAM
CALL command
Ladder Program
Fig. 5.1 Calling a Motion Program by Direct Specification
MOTION PROGRAM
0 3
CALL command
MW00200 = 3
Ladder Program
MPM No.
Fig. 5.2 Calling a Motion Program by Indirect Specification
Feature
Can be called from DWG.H.
Can be called from the main pro-
grams.

program number must be unique.
MPM No.
Register No.
MW00200 = 3
Number of Programs
A total of up to 256 main pro-
grams and subprograms can be
created.
MPM001
ABS;
MOV[X] _ [Y] _
MVS[X] _ [Y] _ F
IOW MB0001
MOV[X] _ [Y] _
.
.
.
Motion Program
MPM003
ABS;
MOV[X] _ [Y] _
MVS[X] _ [Y] _ F
IOW MB0001
MOV[X] _ [Y] _
.
.
.
Motion Program