YASKAWA MP3000 Series Setup Manual page 172

Execution Scheduling
Programs that are registered in the M-EXECUTOR are executed in the order of their priority lev-
els (execution types).
Programs that are registered in the M-EXECUTOR are executed immediately before processing
the ladder programs.
Every high-speed scan
Batch outputs
Batch inputs
H-scan sequence programs
Motion programs
The execution order
follows the definitions
in the M-EXECUTOR.
DWG.H
(high-speed scan
process drawings)
4.1 User Program Types and Execution Timing
Power turned ON.
Startup sequence programs
DWG.A
(startup drawings)
Every low-speed scan
L-scan sequence programs
4.1.4 The M-EXECUTOR
Batch outputs
Batch inputs
The execution order
follows the definitions
in the M-EXECUTOR.
DWG.L
(low-speed scan
process drawings)
4
4-39