Yaskawa MP930 User Manual
Page 70
3.4 User Programs
3 -11
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Execution Scheduling of Scan Process Drawings
The scan process drawings are not executed simultaneously. As shown in Figure 3.4, they are
scheduled based on the priority level and are executed according to the schedule.
DWG.H
DWG.L
Low-speed scan
High-speed
scan
: Executed
* Used for internal system processes, such as self diagnosis.
High-speed
scan
High-speed
scan
High-speed
scan
Ground*
Figure 3.4
Execution Scheduling of Scan Process Drawings
1. Set the high-speed scan time as a multiple of 2 with a minimum of 2 ms.
2.
The low-speed scan process is executed in the unused time of the high-speed scan process. Therefore, as a
guideline, set a time that is twice the execution time of all the DWG.H drawings as the high-speed scan time.
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Hierarchical Arrangement of Drawings
Drawings are arranged in the following order: Parent drawing, child drawings, grandchild
drawings. A parent drawing cannot call a child drawing of a different type, and a child drawing
cannot call a grandchild drawing of a different type. A parent drawing also cannot directly call
a grandchild drawing. A child drawing is called from a parent drawing, and a grandchild draw-
ing is called from that child drawing. This is called the hierarchical arrangement of drawings.
3
IMPORTANT