Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 71)

5 Sequence Programs
5.2.2 Registering Program Execution
5-4
(2) Execution Timing
The following diagram illustrates program execution timing.
As shown in the following diagram, the programs are executed in the order they are registered in the Program
definition tab page.
5.2.2 Registering Program Execution
Register the programs to run as shown below. The following screenshot shows an example of registering the
sequence program SPM001 to run in a high-speed scan cycle.
Only the direct designation is available for sequence programs. The indirect designation cannot be used.
SPM003 MPM004 SPM005 DWG.H
SPM001 DWG.A
DWG.L
SPM003 MPM004
SPM002
High-speed scan cycle
Low-speed scan
High-speed scan
Start
: Ladder program
processing
Low-speed scan cycle
SPM005 DWG.H
DWG.X
The shaded area is an interruption
from processing that has higher
priority.
High-speed scan cycle
SPM002
Register the program to run.
INFO