Yaskawa MP900 Series Ladder Programming Manual - Manual (Page 67)

4.8 Advanced Programming
4.8.2 C-language Programs
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4.8.2 C-language Programs
You can use the MP2000-series Machine Controller Embedded C-language Programming Package to use C-language
functions and C-language tasks in addition to ladder programs and motion programs.
You can call C-language functions and start and stop C-language tasks from the ladder programs.
The following configuration is for using C-language programming.
For details on C-language programming, refer to the Machine Controller MP2000 Series Embedded C-Language Pro-
gramming Package Development Guide (Manual No.: SIEP C880700 25).
MP2000
Ladder language Motion language
External signal
Function called.
C-language
function
Function called.
Task started and stopped.
User-defined
C-language task A
Task started and stopped.
User-defined
C-language task B
Local task made dormant.
Automatically started
at start of H or L scan.
Table data
Can be accessed
from
ladder-language
or C-language
programming.
Can be accessed
from
ladder-language,
motion-language,
or C-language
programming.
Registers
Global variables
Can be accessed only from
C-language programming.