Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 105)

7.5 Commands and Execution Scans
7-17
7
Programming
7.5 Commands and Execution Scans
7.5.1 Command Types
There are three motion language command types. The number of scans required to execute a command will differ
depending on the command type. The following table shows the number of scans required to execute each type of
command.
The details of each command type follow:
• S Type Commands
S type commands, including operation commands, are executed in one scan.
A program in which S type commands are continuously coded is executed within one scan.
• M Type Commands
M type commands, including axis move commands, are executed in more than one scan.
One scan is required to switch from the S type command to the M type command.
• T Type Commands
T type commands, including timer related commands, are executed in more than one scan.
The following diagram shows the number of scans required to execute each command type.
Command Type Command
Number of Scans Required
to Execute a Command
S type Operation commands One scan
M type Axis move commands
More than one scan
T type Timer related commands
S type command
S type command
S type command
T type command
END;
Executed in one scan
Executed in more
than one scan
Waits for one scan
Executed in more
than one scan
M type command
M type command
S type command
S type command
S type command
Executed in one scan
When the command before an S type command is
an M type, the S type command is executed at
the last scan of the M type command.