Yaskawa MP940 - Manual (Page 67)

Basic System Operation
3.4.3 Motion Programming
3-20
3.4.3 Motion Programming
„ Overview
Motion programming is a textual motion programming language. Motion programming can
be used to create 32 programs separate from the ladder drawings.
Two types of motion program are provided: Main programs (MPM†††) that can be called
from DWG.H, and subroutines (MPS†††) that can be called from the main programs.
Table 3.5 Types of Motion Program
• Motion programs must be referenced from an H drawing using the MSEE command.
• Each MPM††† and MPS††† program number must be unique.
There are two methods of designating a motion program: Direct designation of the program
number, and indirect designation of the number of the register in which the program number
is stored.
Fig 3.4 Starting a Motion Program by Direct Designation
Classification
Designation
Method
Feature
Number of
Programs
Main
Programs MPM†††
1 to 32 Can be called from DWG.H
drawings. A total of up to 32
main programs and
subroutines can be
created.
Subroutines MPS†††
1 to 32
Can be called from the main
programs.
↑
MSEE MPM001 DA0000
ABS;
MOV ［X］_
MVS［X］_ F
IOW MB0001
MOV ［X］_
・
・
MOTION PROGRAM
CALL command
MPM number
Ladder Logic Program Motion Program