Yaskawa MP920 User's Manual Design - Manual (Page 91)

3.4 User Programs
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3
„ Motion Program Execution Processing Method
A motion program must be executed from DWG.H using the MSEE instruction. Motion pro-
grams can be executed from any H drawing, i.e., from parent, child, and grandchild H draw-
ings.
1. In each high-speed scanning cycle, the ladder logic instructions for H drawings are exe-
cuted in the following hierarchical order: Parent drawing-child drawing-grandchild
drawing.
2. Motion programs are called in the scanning cycle, but as with ladder logic programs, all
programs cannot be executed in one scan. Motion programs are executed and controlled
by special system motion management functions.
3. Motion programs are called in the scanning cycle, but they are not executed only in this
cycle. The control signals set on the Group Definition Window must be input. (See the
table on the next page.)
The following restrictions apply to calling motion programs. Call motion program with care.
• More than one motion program with the same number cannot be called using the MSEE instruc-
tion.
• Subroutines (MPS†††) cannot be called from the ladder logic program MSEE instruction. They
can be called only from within motion programs (MPM††† and MPS†††).
• The same subroutine cannot be called from two different locations at the same time.
MSEE
MPM001
DEND
END
RET
END
DEND
DWG.H01.01
MSEE
MPM002
MSEE
MPM002
MSEE
MPS001
DEND
The system program is started according
to the execution condition.
Parent Drawing
DWG.H
SEE H01 SEE H01.01
DWG.H01 MPM001
Child Drawing Grandchild Drawing Motion Programs
Subroutine
VEL [a1] 5000 [b1]..
FMX T10000000;
IAC T25;
IDC T30;
MOV [a1] 300. [b1]..
MVS [a1] 200. [b1]..
...
...
END
MPM002
MPM003
MPS001
INFO