Yaskawa MP940 Reference Manual - Manual (Page 62)

User Programs MotionSuite™ MP940 Machine Controller Reference Manual
3-20
Motion Programs
Outline of Motion Programs
1. A motion program is a program written in a text format motion lan-
guage. Unlike ladder programs, up to 256 motion programs can be cre-
ated.
2. There are two types of motion programs: main programs that can be
called from DWG.H (MPMooo), and sub-programs that can be called
from the main program (MPSooo).
Ensure that the program numbers for MPMooo and MPSooo are differ-
ent.
3. There are two methods of motion program designation, direct designa-
tion (in which the program number is designated), and indirect designa-
tion (in which a register number containing the program number is
stored is designated). Examples of direct designation and indirect des-
ignation (respectively) appear below.
Classification
Designation
Method
Characteristics No. of Programs
Main Program MPMooo
1 ~ 32 Can be called from DWG.H A combined maximum of
main and sub-programs,
up to 32, can be created
Sub-program MPSooo
1 ~ 32 Can be called from main program
MCプログラム起動命令
↑
MPM番号
MSEE MPM001 DA0000
ABS;
MOV ［X］_
MVS［X］_ F
IOW MB0001
MOV ［X］_
・
・
ラダープログラム MCプログラム
Program start command
MPM Number
Ladder Program MC Program