Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 26)

1 Overview
1-10
1.5 Motion Program Execution Timing
Motion programs are executed in full synchronization with MP2000 high-speed scans. In every high-speed scan
cycle, I/O services are performed first, and the motion program registered in M-EXECUTOR is executed.
Next, the motion program initiated in the MSEE command coded in the DWG.H is executed at the timing of the
MSEE command execution.
The following diagram illustrates motion program execution timing.
Empty
I/O service
(Output)
H drawing
M-EXECUTOR
External device
Batch
output
Batch
input
MP2000-series CPU
Requests
to execute
Reports
Motion program
Status
Control signal
Subprogram M-EXECUTOR
Requests
to execute
Reports
Status
Control signal
High-speed scan High-speed scan High-speed scan
I/O service
(Input)
Empty Empty
MSEE
END;
MPM001
RET;
MPS101
DWG.H
Motion program
Subprogram
MSEE
END;
MPM002
RET;
MPS102
System processing
Output (O)
register
Input (I)
register