Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 56)

4 Motion Programs
4.3.1 How to Run a Motion Program
4-4
(2) Registering it to the M-EXECUTOR Program Execution Definition
After creating a motion program, register it in the M-EXECUTOR program execution definition screen.
The programs registered in the M-EXECUTOR program execution definition screen are executed in ascending
numeric order.
The execution example is shown in the figure below.
To start up the motion program, after the motion program registration, use a control signal to turn ON the
request for the program operation startup.
The motion program registered in M-EXECUTOR is executed at a scan cycle, but similar to a ladder, the
whole program cannot be executed at a single scan. In case of the motion program, a motion management
function in the system carries out an execution control exclusive for the motion programs.
When registering a motion program to M-EXECUTOR, pay attention to the followings:
• Multiple motion programs with the same number cannot be registered.
• Multiple motion programs with the same number cannot be referenced using an indirect designation.
END
RET END
MPM003
MPS101
MPM001
Motion program
M-EXECUTOR program execution definition
MPM002
MSEE
MPS101
Subprogram
END
VEL [a1]5000 [b1]..
FMX T10000000;
IAC T25;
IDC T30;
MOV [a1]300. [b1]..
MVS [a1]200. [b1]..
.
.
.
IMPORTANT