YASKAWA MP210 Series User Manual page 186

5 Outline of Motion Control Systems
5.2.1 Drawings (DWGs)
5.2 User Programs
This section explains the basic operation of the user program. The MP2100/MP2100M's user programs include
ladder program and motion program. For details, refer to the following manuals.
• Machine Controller MP900/MP2000 Series User's Manual, Ladder Programming
(Manual No.: SIEZ-C887-1.2)
• Machine Controller MP2000 Series User's Manual for Motion Programming
(Manual No.: SIEP C880700 38)
• Machine Controller MP900/MP2000 Series New Ladder Editor Programming Manual
(Manual No.: SIEZ-C887-13.1)
• Machine Controller MP900/MP2000 Series New Ladder Editor User's Manual
(Manual No.: SIEZ-C887-13.2)
5.2.1 Drawings (DWGs)
User programs are managed in units of ladder drawings, which are identified by drawing numbers. These draw-
ings form the basis of user programs.
(1) Types of Drawings
Ladder drawings include parent drawings, child drawings, grandchild drawings, and operation error processing
drawings. In addition to drawings, some functions can also be freely accessed from each drawing.
• Parent Drawings
Parent drawings are automatically executed by the system program when the execution conditions, out-
lined in the table below, are met.
• Child Drawings
Child drawings are executed by using a SEE command from a parent drawing.
• Grandchild Drawings
Grandchild drawings are executed by using a SEE command from a child drawing.
• Operation Error Processing Drawings
Operation error processing drawings are automatically executed by the system program when an opera-
tion error occurs.
• Functions
Functions are executed from parent, child, and grandchild drawings using the FSTART command.
(2) Drawing Types and Order Priority
Drawings are classified by their first letter (A, I, H, or L) based on the processing purpose. The following table
outlines the order of priority and execution conditions for these drawings.
Type of
Parent
Drawing
DWG.A
(drawing A)
DWG.I
(drawing I)
DWG.H
(drawing H)
DWG.L
(drawing L)
5-8
Function Priority
1
Startup processing
2
Interrupt processing
High-speed scan
3
processing
Low-speed scan
4
processing
Execution Conditions
Power ON
(Executed once only, when the power is
turned ON)
External interrupts, such as Optional Mod-
ule DI interrupts or counter interrupts.
Scheduled cycle startup
(Executed during each high-speed scan of
a scheduled cycle startup)
Scheduled cycle startup
(Executed during each low-speed scan of a
scheduled cycle startup)
Number of
Drawings
64
64
200
500