Sequence Programs - YASKAWA MP3000 Series Setup Manual

4.1 User Program Types and Execution Timing

4.1.3 Sequence Programs

4.1.3

Sequence Programs

A sequence program is written in a text-based motion language.
There are two types of sequence programs.
Main programs
Subprograms
Important
Sequence Program Execution
A sequence program is executed by registering it in the M-EXECUTOR execution definitions.
The sequence programs are executed in ascending order.
The following figure shows an execution example.
M-EXECUTOR Program Execution Definitions
If the execution type is set to an H-scan sequence program or L-scan sequence program, then
the program will be executed as soon as the definition is saved. If the execution type is set to a
startup sequence program, then the program will be executed the next time when the power
supply is turned ON.
4-24
Designation
Type
Method
SPM
(=1 to 512)
SPS
(=1 to 512)
The same numbers are used to manage the sequence programs and motion programs.
Use a unique number for each program.
• Motion program numbers are given in the form MPM or MPS.
• Sequence program numbers are given in the form SPM or SPS.
Features
Main programs are called from
the M-EXECUTOR program
execution definitions.
Subprograms are called from
a main program.
Number of Programs
You can create up to 512 motion
programs, including the following
programs:
• Motion main programs
• Motion subprograms
• Sequence main programs
• Sequence subprograms
Sequence Programs
SPM001
IF MW000<32767;
MW000=MW000+1;
ELSE;
MW000;
IEND;
END
SPM002
END
Subprogram
SPM003
SPS101
SSEE
SPS101
END RET