Yaskawa MP940 Reference Manual - Manual (Page 64)

User Programs MotionSuite™ MP940 Machine Controller Reference Manual
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1. The ladder commands of the H drawing are executed at each high-
speed scan period in the order of source drawing/sub-drawing/sub-sub-
drawing.
2. Although motion programs are referenced in the scan period, they can-
not be referenced in a single scan. Motion programs execute an execu-
tion control dedicated to motion programs through the motion control
functions of the system.
3. Although motion programs are referenced in the scan period, they can-
not be executed simply by reference. A control signal set in the group
definition screen must be set.
Ensure the following restrictions are observed in referencing motion
programs.
1. Multiple reference of motion programs with the same number is not
possible with the MSEE command.
2. Subroutines (MPSxxx) cannot be referenced from ladder MSEE com-
mands. These can only be referenced from within the motion program
(MPMxxx, MPSxxx).
3. The same subroutine cannot be simultaneously referenced.
Motion Program Execution
Input program control signals (program run start requests, program stop
requests, etc.) in order to execute the motion programs called from DWG.H
by the MSEE command. Operation is possible by inputting the external
control signal defined in the group definition screen into the program control
signal.
1. The following signal types are for motion program control.
bit Signal Name Signal Type
b0: Program Run Start Request Bit Input
b1: Program Hold Request A Contact
b2: Program Stop Request A Contact
b3: Program Debug Mode Selection A Contact
b4: Program Debug Start Request Bit Input
b5: Alarm Reset Request A Contact
b8: Skip 1 Data A Contact
b9: Skip 2 Data A Contact