Yaskawa MP940 - Manual (Page 64)

3.4 User Programs
3-17
3
The following table gives details of the number of drawings for each type of drawing.
Table 3.4 Details of Drawings
3.4.2 Execution Control of Parent Drawings
Each drawing is executed based on its priority level, as shown in the following figure.
Fig 3.2 Execution Control of Parent Drawings
DWG.S Servo-control scans 3 Fixed-cycle startup (Executed with each servo-con-
trol scan time.) 16
DWG.H High-speed scan process 4 Servo-control scan (S scan) (Executed by time slic-
ing within cycle.) 16
DWG.L Low-speed scan process 5 Servo-control scan (S scan) (Executed by time slic-
ing within cycle.) 32
Type of Parent
Drawing
Role of Drawing
Priority
Level
Execution Condition
Number of
Drawings
Drawing
Number of Drawings
DWG.A DWG.I DWG.S DWG.H DWG.L
Parent Drawing 1(A) 1(I) 1(S) 1(H) 1(L)
Operation Error Drawing 1(A00) 1(I00) 1(S00) 1(H00) 1(L00)
Child Drawings Maximum
total of 2
drawings Maximum
total of 6
drawings Maximum
total of 14
drawings Maximum
total of 14
drawings Maximum
total of 30
drawings
Grandchild Drawings
X，A，I，S，H，L
Power ON
DWG.A
Startup drawing
S-scan cycle
DWG.S
S-scan process
DWG.H
H-scan process
DWG.L
L-scan process
Executed by
time slicing.
Interrupt signal
DWG. I
Interrupt drawing
Continue with
original process
Operation error
DWG.X00 Operation
error drawing
Continue with
original process