YASKAWA JEPMC-MP2300-Y Series User Manual page 257

( 2 ) Groups
A group of axes with related operations can be treated as one group by motion programs and pro-
grams can be executed for each group. This allows one MP2300 to independently control multiple
machines using group operation. Group operation can be single group operation or multiple group
operation.
Definitions for axes to be grouped together are made under Group Definitions. For details on group
definitions, refer to Machine Controller MP900/MP2000 Series User's Manual MPE720 Software
for Programming Device (SIEPC88070005 ).
(a) Single Group Operation
MP2300
X1 Y1 Z1
( 3 ) Motion Program Execution Example
Motion programs are always called from H drawings using the MSEE command (motion program
call command). Motion programs can be called from any parent, child, or grandchild drawing in an H
drawing.
The following figure shows an example of motion program execution.
System programs are
started according to
execution conditions.
Parent Drawings
DWG.H
SEE
H01
MSEE
MPM003
DEND
H drawing ladder commands are executed in hierarchical order i.e., parent drawings, child drawings,
then grandchild drawings each high-speed scan cycle.
Motion programs are also called each scan cycle, but unlike ladder programs, all motion programs
cannot be executed in one scan. For this reason, motion programs are executed and controlled by spe-
cial system's motion management function.
A1 B1
Child Drawings Grandchild Drawings
DWG.H01
SEE H01.01
MSEE
MPM002
DEND
(b) Multiple Group Operation
MP2300
X1 Y1 Z1
Motion Programs
MPM001
DWG.H01.01
VEL [a1]5000 [b1]..
FMX T10000000;
IAC T25;
MSEE
IDC T30;
MPM001
MOV [a1]300. [b1]..
MVS [a1]200. [b1]..
DEND
END
MPM002
END
MPM003
MSEE
MPS101
END
5.2 User Programs
A1 B1
.
.
.
Subroutine
MPS101
RET
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