Yaskawa MP900 Series Motion Programming Manual - Manual (Page 30)

Overview of Motion Programs
1.1.3 Starting Motion Programs
1 -16
Multiple Groups Operation
SGD SGD SGD SGD SGD
X1 Y1 Z1 A1 B1
MP-series Machine
Controller
J
Motion Program Execution Processing Method
Motion programs must be called from DWG.H using the MSEE command. H drawings can be
called from parent, child, or grandchild drawings.
The system program is started
according to the execution condition.
Parent Drawing Child Drawing Grandchild Drawing
DWG.H
SEE H01
DEND
DWG.H01
SEE H01.01
DEND
END
RET
END
DEND
MPM003
MPS001
DWG.H01.01 MPM001
MPM002
VEL [a1] 5000 [b1]..
FMX T10000000;
IAC T25;
IDC T30;
MOV [a1] 300. [b1]..
MVS [a1] 200. [b1]..
END
MSEE MPS001
MSEE
MPM002
MSEE
MPM001
Motion Programs
Subroutine
MSEE
MPM002
D In each high-speed scanning cycle, the ladder logic commands for DWG. H are executed in
the hierarchical order: Parent drawing→Child drawing→Grandchild drawing.
D Motion programs are called in the scanning cycle, but unlike ladder logic programs, all pro-
grams cannot be executed in a single scan. So, the motion-management functions of the sys-
tem control the execution of the motion program.
1