YASKAWA MP210 Series User Manual page 192

5 Outline of Motion Control Systems
5.2.3 Motion Program
(2) Motion Program Execution Example
Motion programs are always called from H drawings using the MSEE command (motion program call com-
mand). Motion programs can be called from any parent, child, or grandchild drawing in an H drawing.
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 scan 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 scan 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 func-
tions.
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) cannot be called from the ladder program MSEE instruction. They can be called only from
within motion programs (MPM and MPS).
• The same subprogram cannot be called from two different locations at the same time.
5-14
Child Drawing
DWG.H01
SEE
SEE H01.01
H01
MSEE
MPM002
DEND
Grandchild Drawing
Motion Main 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
.
.
.
Motion Subprogram
MPS101
RET