Yaskawa MotionSuite Series Machine Controller Programming Manual - Manual (Page 13)

MotionSuite™ Series Machine Controller Programming Manual Chapter 1: Motion Programmming Outline
1-4
c. Motion Program Execution Processing Format
Always refer to the motion program from the H drawing by using the MSEE
command. H drawings can be referenced from source drawings, sub-drawings,
or sub-sub-drawings.
Supplement
See Section 3.4 “User Programs” in the MP930 Machine Controller Hardware Man-
ual for details regarding this figure.
Motion Program Types
Classification
Designation
Method
Characteristics Number of Programs
Main Program MPM"""
1~256
Can be called out from an H drawing A maximum of 256 combined
main programs and sub-programs
can be created.
Sub-Program MPS"""
1~256
Can be called out from a main program
operating conditions
System program starts by
DWG.H
SEE H.01
Source Drawing Sub-drawing Sub-sub-drawing Motion Program
DWG.H01 DWG.H01.01
DEND
MSEE MPM002
MSEE MPM003
DEND
MSEE MPM001
DEND
END
MPM001
VEL [a1]5000 [b1]..
FMX T100000000;
IAC T25;
IDC T30;
MOV [a1]300. [b1]..
MVS [a1]200. [b1]..
•
•
SEE H01.01
END
MPM002
END
MPM003
MSEE MPS001
RET
MPS001
Subroutine
Figure 1.1: Motion Program Execution Processing Format