YASKAWA MP210 Series User Manual page 69

(2) Specifications of the M-EXECUTOR Module
(a) Programs Registerable in M-EXECUTOR
The following table shows the programs that can be registered in M-EXECUTOR.
Program Type
Motion Program
Startup
Interrupt
Sequence
Program
H Scan
L Scan
(b) Program Control Method
The following table shows the program control methods registered in M-EXECUTOR.
Item
Execution Method
System Work
Program Designation Method
Program Startup Method
Override Setting for Interpolation
I/O Link Definition
S Register Report Function of
Motion Program Status
Number of Parallels
Execute an Error Drawing when
Operation Error Occurred
2.2 Functions of the MP2100/MP2100M Base Module
Number of Registrations
16
1
Disable
16
16
Motion Program
Sequential Execution
1:1 correspondence between the definition number and system work
(The number of program definitions is set in the MPE720 window.)
Definition No. System Work Number
No. 1
No. 2
No. 16
Direct or indirect designation
Registered in the definition, turns
start signal ON
Yes
Yes
1 to 8
(4 main parallels × 2 sub parallels)
Remarks
Up to 16 programs in total
–
–
Up to 16 programs in total
Up to 16 programs in total
Sequence Program
Startup: Event driven
H Scan: Scan execution
L Scan: Scan execution
1
2
16
Direct designation
Starts up when registered in the defi-
nition
No
No
Yes
1
Yes
2
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