YASKAWA MP3000 Series Setup Manual page 173

4.1 User Program Types and Execution Timing
4.1.4 The M-EXECUTOR
The following is an execution example.
• M-EXECUTOR Program Execution Definitions
Example
 Execution Timing
This section describes the execution timing of programs in the above example.
The following figure shows how program and drawing execution is based on the order of regis-
tration in the M-EXECUTOR program definitions.
Startup
High-speed scan
Low-speed scan
4-40
Sequence Program Execution Example
The following figure shows an example of the sequence programs registered in the M-
EXECUTOR.
SPM001 DWG.A
SPM003 MPM004
This shows that the higher priority
processing is interrupting lower
priority processing.
High-speed scan cycle
SPM005 DWG.H
Low-speed scan cycle
SPM002
High-speed scan cycle
SPM003 MPM004 SPM005 DWG.H
: Ladder processing
DWG.
SPM002 DWG.L