Yaskawa MP940 - Manual (Page 69)

Basic System Operation
3.4.3 Motion Programming
3-22
„ Motion Program Execution Processing Method
A motion program must be executed from DWG.H using the MSEE instruction. Motion pro-
grams can be executed from any H drawing, i.e., from parent, child, and grandchild H draw-
ings.
In each high-speed scanning cycle, the ladder logic instructions for H drawings are executed
in the following hierarchical order: Parent drawing - child drawing - grandchild drawing.
Motion programs are called in the scanning cycle, but as with ladder logic programs, all pro-
grams cannot be executed in one scan. Motion programs are executed and controlled by spe-
cial system motion management functions.
Motion programs are called in the scanning cycle, but they are not executed only in this
cycle. The control signals set on the Group Definition Screen must be input. (See the next
section.)
The following restrictions apply to calling motion programs. Call motion program with care.
• More than one motion program with the same number cannot be called using the MSEE instruction.
• Subroutines (MPSxxx) cannot be called from the ladder logic program MSEE instruction. They can
be called only from within motion programs (MPMxxx and MPSxxx).
• The same subroutine cannot be called from two different locations at the same time.
MSEE
MPM001
DWG.H
SEE
H01
DEND
DWG.H01
SEE H01.01
E N D
DEND
END
RET
END
DEND
MPM00
3
MPS00
1
DWG.H01.01
MPM00
1
MSEE
MPM002
MPM00
2
MSEE
MPM002
MSEE
MPM002
MSEE
MPS001
VEL [a1]5000
FMX T10000000;
IAC T25;
IDC T30;
MOV [a1]300.
MVS [a1]200.
.
.
.
.
The system program is started
according to the execution condition.
Parent Drawing Child Drawing Grandchild Drawing Motion Programs
Subroutine
See
note
See
note
INFO