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7.1 User Program Types and Execution Timing
7.1.2 Motion Programs
Motion Program Execution
Motion programs are called with an MSEE instruction from a ladder program in an H drawing.
Information
After you create the motion program, place a Call Motion Program (MSEE) instruction in the
ladder program of an H drawing. Motion programs can be called from any H drawing, regard-
less of whether it is a parent, child, or grandchild drawing.
The following figure shows an execution example.
Execution i
y tem program when the
execution condition i met.
Parent drawing
MPM00
DEND
The ladder instruction in the H drawing is executed every high-speed scan cycle according to
the hierarchical organization of parent−child−grandchild drawings.
The above programming only prepares for execution of the motion program. The motion pro-
gram is not executed when the MSEE instruction is inserted. To start the motion program after
inserting the MSEE instruction, use a control signal to turn ON the Request for Start of Pro-
grammed Operation.
The motion program is executed in the scan cycle, but unlike ladder programs, the entire pro-
gram is not executed in a single scan. Execution of motion programs is controlled by the sys-
tem.
Important
7-12
You can also register the motion program in the M-EXECUTOR (Motion Executor) to call it.
Refer to the following section for details.
7.1.4 The M-EXECUTOR Function Module on page 7-25
tarted by the
Child drawing
DWG.H
DWG.H01
EE
EE H01.01
H01
M EE
MPM002
DEND
M EE
The following points must be taken into consideration when executing motion programs.
• Motion programs that are registered in the M-EXECUTOR cannot be executed with MSEE
instructions.
• More than one instance of the same motion program (i.e., the same program number) cannot
be executed with MSEE instructions.
• Subprograms (MPS
You can call subprograms only from motion programs and motion subprograms (MPM
and MPS
).
• You cannot call the same subprogram more than once at the same time.
• Sequence programs (SPM
a ladder program for the CPU-03 or CPU-04.
Grandchild drawing
DWG.H01.01
M EE
MPM001
DEND
) cannot be executed with MSEE instructions in a ladder program.
and SPS
) cannot be called with MSEE instructions from
Motion program
MPM001
VEL [a1]5000 [b1]..
FMX T10000000;
IAC T25;
IDC T 0;
MOV [a1] 00. [b1]..
MV [a1]200. [b1]..
.
.
.
END
MPM002
END
MPM00
M EE
MP 101
END
ubprogram
MP 101
RET
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