Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 21)

1.2 Motion Program Features
1-5
1
Overview
1.2.6 Data Transfer from/to Ladder Program
Data can be transferred between a ladder program and motion program.
Data registers (M registers) are used to transfer the data.
In this way, a value updated in a ladder program can be used in a motion program, and vice versa
1.2.7 Memory Usage Reduced by Use of Subprograms
Subroutines (subprograms) can be created within a motion program.
The number of program steps can be minimized by creating a subprogram that includes a set of commands to
perform a repeated or regular task, thus reducing memory usage.
Data register
(M register) MOV [A1] ML00000;
Ladder program Motion program
Read Update Read Update
Main program
MPM001
Main program
MPM002
Main program
MPM003
Subprogram
MPS010
Calling
(MSEE)
Write common
processing in a
subprogram.
Calling
(MSEE)
Calling
(MSEE)