YASKAWA MP210 Series User Manual page 77

(5) Execution Scheduling
Programs registered in M-EXECUTOR are executed based on their priorities (execution type).
Programs registered in M-EXECUTOR are executed immediately before ladder processing.
Per high-speed scan interval
Batch output
Batch input
Sequence program (H scan)
Motion program
Drawing H
(high-speed scan process drawing)
Power ON
Sequence program (startup)
Drawing A
(startup process drawing)
The execution order is
determined by the M-EXECUTOR
definition.
2.2 Functions of the MP2100/MP2100M Base Module
Per low-speed scan interval
Batch output
Batch input
Sequence program (L scan)
The execution order is
determined by the M-EXECUTOR
definition.
Drawing L
(low-speed scan process drawing)
2
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