Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 288)

9 Engineering Tool MPE720
9.4.2 Motion Editor Window during Debugging
9-20
• Setting the execute task (Only for subprograms)
Set the subprogram information used for monitoring or debugging subprograms. When the Setting the exe-
cute task command is selected, the currently running main programs will be displayed. Select the main pro-
gram that calls the subprogram.
• MSEE call stack (Only for subprograms)
Set more detailed subprogram information than the Setting the execute task command.
Item Description
Main program
number
Set the main program number that calls the subprogram.
Fork number
Set the parallel number of the main program that calls the subprogram.
Example: Set 3 when monitoring and debugging subprogram MPS004.
Nest number
Set the nesting level of the subprogram call.
Example: Set 2 when monitoring and debugging subprogram MPS003.
PFORK Label1 Label2 Label3 Label4;
Label1:
̌ Parallel 1
MSEE MPS002;
JOINTO LabelX;
Label2: ̌ Parallel 2
MSEE MPS003;
JOINTO LabelX;
Label3: ̌ Parallel 3
MSEE MPS004;
JOINTO LabelX;
Label4: ̌ Parallel 4
MSEE MPS005;
JOINTO LabelX;
LabelX: PJOINT;
㨯㨯㨯㨯
END;
MPM001
MW0000=1;
MSEE MPS002;
㨯㨯㨯㨯
㨯㨯㨯㨯
END;
MPM001
MW0000=2;
MSEE MPS003;
㨯㨯㨯㨯
㨯㨯㨯㨯
RET;
MPS002 (Nest 1)
MW0000=3;
㨯㨯㨯㨯
㨯㨯㨯㨯
RET;
MPS003 (Nest 2)