Yaskawa MP930 - Manual (Page 73)

Basic System Operation
3.4.3 Motion Programming
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3.4.3 Motion Programming
J Overview of Motion Programs
Motion programming is a textual motion programming language. Motion programming can
be used to create 256 programs separate from the ladder drawings.
Two types of motion program are provided: Main programs (MPMjjj) that can be called
from DWG.H, and subroutines (MPSjjj) that can be called from the main programs.
Table 3.6 Types of Motion Program
Classification Designation Method Feature Number of Programs
Main Programs MPMjjj
1 to 256
Can be called from
DWG.H drawings. A total of up to 256
main programs and sub-
Subroutines MPSjjj
1 to 256
Can be called from the
main programs.
routines can be created.
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.
MOTION PROGRAM CALL
command
↑
MPM number
MSEE MPM001 DA0000
ABS;
MOV [X] _ [Y] _
MVS [X] _ [Y] _ F_
IOW MB0001
MOV [X] _ [Y] _
⋅
⋅
⋅
Ladder Logic Program Motion Program
Figure 3.7 Starting a Motion Program by Direct Designation
MOTION PROGRAM CALL
command
MW00200
MSEE MWM00200 DA0000
ABS;
MOV [X] _ [Y] _
MVS [X] _ [Y] _ F_
IOW MB0001
MOV [X] _ [Y] _
⋅
⋅
⋅
Ladder Logic Program
0 3
Setting device
MPM number
Motion Program
Figure 3.8 Starting an Motion Program by Indirect Designation
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