Yaskawa MP930 - Manual (Page 75)

Basic System Operation
3.4.3 Motion Programming
3 -16
J Motion Program Execution Processing Method
A motion program must be called from DWG.H using the MSEE instruction. Motion programs
can be called from any H drawing, i.e., from parent, child, and grandchild H drawings.
The system program is started according
to the execution condition.
Parent Drawing Child Drawing Grandchild Drawing
DWG.H
SEE H01
DEND
DWG.H01
SEE H01.01
DEND
END
RET
END
DEND
MPM003
MPS100
DWG.H01.01 MPM001
MPM002
VEL [a1] 5000 [b1]..
FMX T10000000;
IAC T25;
IDC T30;
MOV [a1] 300. [b1]..
MVS [a1] 200. [b1]..
…
…
END
MSEE MPS100
MSEE
MPM003
MSEE
MPM002
MSEE
MPM001
Motion Programs
Subroutine
Figure 3.11 Execution Processing Method for Motion Programs
D 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.
D Motion programs are called in the scanning cycle, but as with ladder logic programs, all
programs cannot be executed in one scan. Motion programs are executed and controlled
by special system motion management functions.
D 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 table
on the next page.)
The following restrictions apply to calling motion programs. Call motion program with care.
1. More than on emotion program with the same number cannot be called using the MSEE instruction.
2. Subroutines (MPSxxx) cannot be called from the ladder logic program MSEE instruction. They can be
called only from within motion programs (MPMxxx and MPSxxx).
3. The same subroutine cannot be called from two different locations at the same time.
3
INFO