YASKAWA MP3000 Series Setup Manual page 146

Motion Program Execution
Motion programs are called with an MSEE instruction from a ladder program in an H drawing.
You can also register the motion program in the M-EXECUTOR (Motion Executor) to call it. Refer
to the following section for details.
The M-EXECUTOR (page 4-26)
Note
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 is started by the
system program when the
execution condition is met.
Parent drawing Child drawing
DWG.H
SEE
H01
DEND
MSEE
MPM003
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 Program
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.
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
Note
be executed with MSEE instructions.
• Subprograms (MPS) cannot be executed with MSEE instructions in a ladder program.
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 and SPS) cannot be called with MSEE instructions from
a ladder program for the CPU-03 or CPU-04.
Grandchild drawing
DWG.H01.01
DWG.H01
SEE H01.01
MSEE
MPM001
DEND
MSEE
MPM002
4.1 User Program Types and Execution Timing
4.1.2 Motion Programs
Motion programs
MPM001
VEL [a1]5000 [b1]..
FMX T10000000;
IAC T25;
IDC T30;
MOV [a1]300. [b1]..
MVS [a1]200. [b1]..
.
.
.
END
MPM002
END
MPM003
MSEE
MPS101
END
Subprogram
MPS101
RET
4
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