Yaskawa MP2300S Basic Module - Manual (Page 139)

5.2 User Programs
5.2.2 Motion Programs
5-6
5.2.2 Motion Programs
Motion programs are programs written in a text-based language called motion language.
The following table shows the two types of motion programs.
„ The program numbers of motion programs are managed in the same manner as the sequence program num-
bers. Assign a unique number for each program number.
• Program number of Motion program MPM †††, MPS †††
• Program number of Sequence program SPM †††, SPS †††
„ The MP2300S can execute up to 16 motion programs simultaneously. An alarm (no system work error) will
occur if 17 or more programs are executed simultaneously.
• No system work error: Bit E of the leading word in the MSEE work registers
( 1 ) Groups
A group of axes with related operations can be treated as one group by motion programs and programs can be executed
for each group. This allows one MP2300S to independently control multiple machines using group operation. Group
operation can be single group operation or multiple group operation.
Definitions for axes to be grouped together are made under Group Definitions.
Type
Specification
Method
Features No. of Programs
Main Program
MPM†††
(††† = 1 to 256)
Accessed from DWG.H
Up to 256 programs (including main and
sub programs) can be created.
Sub-program
MPS†††
(††† = 1 to 256)
Can be called from main programs
MP2300S
SGDS SGDS SGDS SGDS SGDS
X1 Y1 Z1 A1 B1
GROUP 3 GROUP 1 GROUP 2
MP2300S
SGDS SGDS SGDS SGDS SGDS
X1 Y1 Z1 A1 B1
GROUP 1
(a) Single Group Operation (b) Multiple Group Operation