Yaskawa MP2300S Basic Module - Manual (Page 143)

5.2 User Programs
5.2.2 Motion Programs
5-10
[ b ] Executing H Drawings by MSEE Command
Motion programs are always called from H drawings using the MSEE command (motion program call command).
Motion programs can be called from any parent, child, or grandchild drawing in an H drawing.
The following figure shows an example of motion program execution.
H drawing ladder commands are executed in hierarchical order i.e., parent drawings, child drawings, then grandchild
drawings each high-speed scan cycle.
The above method is a preparation for running a motion program. When a MSEE command is built in, the motion pro-
gram does not start up. To start up the motion program, after the MSEE command is incorporated, use a control signal
to turn on the request for the program operation startup.
Motion programs are also called each scan cycle, but unlike ladder programs, all motion programs cannot be executed
in one scan. For this reason, motion programs are executed and controlled by special system’s motion management
function.
„ Caution
When running a motion program, pay attention to the followings:
• The motion program registered in M-EXECUTOR cannot be executed using a MSEE command.
• Multiple motion programs with the same number cannot be executed using a MSEE command.
• A subroutine (MPS
††† ) cannot be executed from a MSEE command in a ladder.
It can only be referenced from a motion program (MPM ††† , MPS ††† ).
• A sequence program (SPM ††† , SPS ††† ) cannot be executed from a MSEE command in a ladder.
• The same subroutine cannot be referenced at the same time.
H 01
SEE
DWG.H
SEE H01.01
DWG.H01 DWG.H01.01
DEND
MPM001
MSEE
.
.
.
MVS [a1]200. [b1]..
MOV [a1]300. [b1]..
I DC T30;
I AC T25;
F MX T10000000;
VEL [a1]5000 [b1]..
MPS101
MSEE
MPM002
MPM001
MPM003
EN D
EN D
EN D
MPM002
MSEE
DEND
MPM003
MSEE MPS101
RET
DEND
Parent Drawings Child Drawings G randchild Drawings Motion Programs
System programs are
s
tarted according to
execution conditions.
Subroutine