Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 22)

1 Overview
1.2.8 Parallel Program Execution
1-6
1.2.8 Parallel Program Execution
With a single MP2000-series Machine Controller, up to 16 tasks can be simultaneously executed using motion
programs. With one motion program, up to four main programs can be simultaneously executed. Additionally, up
to two subprograms can be simultaneously executed by calling subprograms from the main program. Multiple
different movements can be simultaneously controlled by using such the parallel program execution function.
1.2.9 Program Online Editing
Motion programs can be edited online in the same way as ladder programs.
Online editing refers to editing programs with the programming device logged on to the Machine Controller.
In online editing mode, the operation to save the edited program automatically transfers the saved program to the
Machine Controller. Thus, an operation to transfer to the Machine Controller is not required and program devel-
opment efficiency is improved.
Online editing is disabled while a motion program is running.
MP2000-
series
Machine
Controller
Task 1
Task 2
Task 16
Processing 1
Subprogram
Processing
1-1
Processing
1-2
Processing 2 Processing 3 Processing 4
Task
Simultaneous
execution of
up to 16 tasks
Up to four main programs
can be executed
in parallel.
Up to two subprograms
can be executed in
parallel.
Offline editing
Online editing
Programming
Operation to transfer a program
to the Machine Controller
Debugging
INFO