YASKAWA MP210 Series User Manual page 188

5 Outline of Motion Control Systems
5.2.2 Execution Control of Drawings
(3) Hierarchical Arrangement of Drawings
Each processing program is made up of parent drawings, child drawings, and grandchild drawings. Parent draw-
ings cannot call child drawings from a different type of drawing and child drawings cannot call grandchild draw-
ings from a different type of drawing. Also, parent drawings cannot directly call grandchild drawings. Child
drawings are always called from parent drawings and grandchild drawings are always called from child draw-
ings. This is the hierarchical structure of drawings.
Each processing program is prepared with the parent drawing, child drawing, grandchild drawing hierarchy, as
shown below.
5-10
Parent Drawing Child Drawings
DWG.X DWG.X01
DWG.Xnn
Note: Substitute A, I, H, or L for X.
Drawing specifications: DWG.X YY . ZZ
DWG.X 00
Grandchild
Drawings
DWG.X01.01
DWG.X01.02
DWG.X01.99
Grandchild drawing No. (01 to 99)
Child drawing No. (01 to 99)
Type of parent drawing (A, I, H, L)
Operation error drawing (A, I, H, L)
User Functions
FUNC-001
FUNC-006
FUNC-032
FUNC-064