Yaskawa MP920 User's Manual Design - Manual (Page 89)

3.4 User Programs
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3.4.3 Motion Programming
„ 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 (MPM†††) that can be called
from DWG.H, and subroutines (MPS†††) that can be called from the main programs.
Each MPM††† and MPS††† program number must be unique.
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.
Fig. 3.5 Starting a Motion Program by Direct Designation
Table 3.6 Types of Motion Program
Classification Designation Method Feature Number of Programs
Main Programs MPM†††
1 to 256 Can be called from
DWG.H drawings. A total of up to 256 main
programs and subrou-
tines can be created.
Subroutines MPS†††
1 to 256 Can be called from the
main programs.
IMPORTANT
Motion Program
MOTION PROGRAM CALL
command
MPM number
ABS;
MOV [X] _ [Y] _
MVS [X] _ [Y] _ F_
IOW MB0001
MOV [X] _ [Y] _
MSEE MPM001 DA0000
↑
Ladder Logic Program