Yaskawa MP920 User's Manual Design - Manual (Page 87)

3.4 User Programs
3-13
3
„ Execution of Drawings
The user prepares each processing program with the parent drawing, child drawing, grand-
child drawing hierarchy, as shown in Fig. 3.4.
Note: Substitute A, I, H, or L for †.
Fig. 3.4 Hierarchical Arrangement of Drawings
Note: 1. A parent drawing is executed automatically by the system, because
the execution condition is determined for each one. In other words,
a parent drawing is automatically called by the system. See
Table
3.4 Types and Priority Levels of Parent Drawings . The user
can execute any child or grandchild drawing by programming an
instruction that calls a drawing (the SEE instruction) in a parent or
child drawing.
2. Functions can be called from any drawing. A function can also be
called from a function.
3. If an operation error occurs, the operation error drawing corre-
sponding to the drawing will be called.
4. Motion programs must be called from H drawings using the MSEE
instruction. The MSEE instruction can be used from any H drawing,
i.e., from parent, child, or grandchild H drawings.
1. 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.
2. A parent drawing cannot directly call a grandchild drawing. A child drawing must be referenced
from a parent drawing, and a grandchild drawing must be called from that child drawing.
3. A parent drawing is automatically called (and executed) by the system. A child drawing is called
from a parent drawing using the SEE instruction. Therefore, user programs containing only child
and grandchild drawings cannot be executed.
Parent Drawing Child Drawings Grandchild
Drawings Motion programs User functions
DWG. 01.01 DWG. 01 MPM001 DWG.
DWG. 01.02 FUNC-001
DWG. 01.03 MPM002 FUNC-006
DWG. nn
MPM015 FUNC-064
FUNC-032
INFO