Yaskawa MP930 - Manual (Page 71)

Basic System Operation
3.4.2 Execution Control of Parent Drawings
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J Execution of Drawings
The user prepares each processing program with the parent drawing, child drawing, grandchild
drawing hierarchy, as shown in Figure 3.5.
Parent Drawing Child Drawings Grandchild
Drawings
Note Substitute A, H, or L for X.
Motion programs User functions
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DWG.X DWG.X01.01 DWG.X01
DWG.X01.03
DWG.X01.02
DWG.Xnn
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MPM015
MPM002
FUNC−064
FUNC−032
FUNC−006
FUNC−001
MPM001
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.
..
Figure 3.5 Hierarchical Arrangement of Drawings
Note 1. A parent drawing is executed automatically by the system, because the execu-
tion condition is determined for each one. In other words, a parent drawing is
automatically called by the system. See Table 3.4 Types and Priority Levels of
Parent Drawings. The user can execute any child or grandchild drawing by
programminganinstructionthatcallsadrawing(the SEEinstruction)in apar-
ent or child drawing.
2. Functions can be called from any drawing. A function can also be called from
a function.
3. If an operation error occurs, the operation error drawing corresponding to the
drawing will be called.
4. Motion programs must be called from H drawings using the MSEE instruc-
tion. The MSEE instruction can be used from any H drawing, i.e., from parent,
child, or grandchild H drawings.
1. A parent drawing cannot call a child drawing of a different type, and a child drawing cannot reference a
grandchild drawing of a different type.
2. A parent drawing cannot directly call a grandchild drawing. A child drawing must be referenced from a par-
ent drawing, and a grandchild drawing must be called from that child drawing.
3. A parent drawing is automatically called (and executed) by the system. A child drawing is called from a par-
ent drawing using the SEE instruction. Therefore, user programs containing only child and grandchild draw-
ings cannot be executed.
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