User Programs; Types And Execution Timing Of User Program - YASKAWA MP2200 User Manual

5.2 User Programs

5.2.1 Types and Execution Timing of User Program

5.2 User Programs
This section describes the basic operation and other information about user programs.
 For programming details, refer to the following manuals.
• Machine Controller MP900/MP2000 Series User's Manual Ladder Programming
(manual no.: SIEZ-C887-1.2)
• Machine Controller MP2000 Series User's Manual Motion Programming
(manual no.: SIEP C880700 38)
• Machine Controller MP900/MP2000 Series New Ladder Editor User's Manual Programming
Instructions
(manual no.: SIEZ-C887-13.1)
• Machine Controller MP900/MP2000 Series New Ladder Editor User's Manual Operation
(manual no.: SIEZ-C887-13.2)
• Engineering Tool for MP2000 Series Machine Controller MPE720 Version 6 User's Manual
(manual no.: SIEP C880700 30).
5.2.1 Types and Execution Timing of User Program
The following table shows the types and execution timing of MP2200 user program.
Motion Program
Sequence Program
Ladder Program
* Sequence program is supported by the CPU-03 at CPU-04.
For more information on the user program, refer to the next page and after.
5-6
User Program
High-speed Scan
Process
Startup Process
High-speed Scan
*
Process
Low-speed Scan
Process
Startup Process
Interrupt Process
High-speed Scan
Process
Low-speed Scan
Process
Execution Timing
Turns ON the program operation start request of the control signal
(runs when program operation start request is ON)
Power-up (during power-up, runs only once)
Periodical startup (runs each time a high-speed scan is performed)
Periodical startup (runs each time a low-speed scan is performed)
Power-up (during power-up, runs only once)
Runs on external interrupt (runs on DI interrupt of Optional Module
and counter match interrupt)
Periodical startup (runs each time a high-speed scan is performed)
Periodical startup (runs each time a low-speed scan is performed)