YASKAWA MP2100 Series User Manual page 131

6 Basic System Operation
6.3.3 Motion Program
(2) Motion Program Execution Processing Method
A motion program must be called from DWG.H using the MSEE instruction. Motion programs can be called
from any DWG.H, i.e., from parent, child, and grandchild DWG.H.
A motion program execution example is shown below.
The system program is started according
to the execution condition.
Parent Drawing
DWG.H
MSEE
MPM003
DEND
In each high-speed scanning cycle, the ladder instructions for DWG.H are executed in the following hierarchical
order: Parent drawing - child drawing - grandchild drawing.
Motion programs are called in the scanning cycle, but as with ladder programs, all programs cannot necessarily
be executed in one scan. Motion programs are executed and controlled by special system motion management
functions.
The following points apply to calling motion programs. Call motion program with care.
INFO
• More than one motion program with the same number cannot be called using the MSEE instruction.
• Subprograms (MPS
within motion programs (MPM
• The same subprogram cannot be called from two different locations at the same time.
6-14
Child Drawing
DWG.H01
SEE
SEE H01.01
H01
MSEE
MPM002
DEND
) cannot be called from the ladder program MSEE instruction. They can be called only from
Grandchild Drawing
DWG.H01.01
MSEE
MPM001
DEND
and MPS ).
Motion Main Programs
MPM001
VEL [a1]5000 [b1]..
FMX T10000000;
IAC T25;
IDC T30;
MOV [a1]300. [b1]..
MVS [a1]200. [b1]..
.
.
.
END
MPM002
END
MPM003
Motion Subprogram
MSEE
MPS101
END
RET
MPS101