YASKAWA MP210 Series User Manual page 78

2 Specifications and Functions
2.2.8 M-EXECUTOR Module (Motion Program Executor)
An execution example is as follows:
• M-EXECUTOR program definition
• Execution scheduling
The following diagram shows the execution scheduling when set in the window above.
Startup
High-speed scan
Low-speed scan
2-46
SPM001 DWG.A
SPM003 MPM004
The hatched area indicates that the
program is being interrupted by a
higher priority process.
High-speed scan cycle
SPM005 DWG.H
Low-speed scan cycle
SPM002
High-speed scan cycle
SPM003 MPM004 SPM005 DWG.H
SPM002
DWG.
DWG.L
: Ladder process