Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 25)

1.4 Motion Program Execution Registration
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Overview
1.4 Motion Program Execution Registration
Execution of motion programs can be registered in two ways.
Calling a Motion Program from the Ladder Program
Code an MSEE command in an H drawing to call the motion program to run. An MSEE work register is used
to start/stop the called motion program. Motion programs can be called from any H drawing: parent drawing,
child drawing, or grandchild drawing.
In this manual, the high-speed processing drawing of a ladder program is referred to as H drawing.
Registering Motion Programs in M-EXECUTOR
Register motion programs in the M-EXECUTOR program execution definition. A control register (I/O regis-
ter) is used to start or stop the registered motion program.
M-EXECUTOR is a software module to execute motion programs and sequence programs.
DWG.H
Work register
Control signal
Status
System work number
Interpolation override
MPM001
INC;
VEL [A1]100 [B1]200;
MOV [A1]1000 [B1]2000;
END;
Calls
Motion program
INFO
M-EXECUTOR
Program definition MPM001
INC;
VEL [A1]100 [B1]200;
MOV [A1]1000 [B1]2000;
END;
Motion program
Control registers
Calls
INFO