Yaskawa MP940 Reference Manual - Manual (Page 58)

User Programs MotionSuite™ MP940 Machine Controller Reference Manual
3-16
• Sub-sub-drawing
These are executed by reference from a sub-drawing using the SEE com-
mand.
• Operation Error Processing Drawing
These are automatically executed by the system program at operation error
generation.
• Functions
These are executed by referencing a source drawing, sub-drawing, or sub-
sub-drawing using an FSTART command.
• Motion Programs
These can only reference H drawings. They are executed by referencing a
source drawing, sub-drawing, or sub-sub-drawing using an MSEE command.
Types and Priority of Source Drawings
Source drawings are classified by their first letters (A, I, S, H, L) in
accordance with their processing objective. Priority and execution
conditions are determined as follows.
Types and Priority of Source Drawings
Type of
Source
Drawing
Drawing Role Priority Execution Conditions
Number of
Drawings
(Note)
DWG.A Start Processing 1 Power Feed (executed once at
power ON) 4
DWG.I Interrupt Processing 2 Generated by DI interrupt and
counter coincidence interrupt for
option modules executed by
external interrupt 8
DWG.S System Scan 3 Set Interval Start (executed at each
servo control scan time) 16
DWG.H High-speed Scan
Processing 4 Divides the servo control scan (S
scan) period into discrete time ele-
ments to execute the scan. 16
DWG.L Low-speed Scan
Processing 5 Divides the servo control scan (S
scan) period into discrete time ele-
ments to execute the scan. 32