Yaskawa MP2300S Basic Module - Manual (Page 164)

5.2 User Programs
5.2.4 Ladder Drawings (DWG)
5-31
Outline of Motion Control Systems
( 2 ) Execution Control of Drawings
[ a ] Execution Control
The following table shows when each drawing is executed based on the order of priority.
[ b ] Execution Schedule for Scan Processing Drawings
The scan processing drawings are not executed simultaneously. As shown in the following figure, the execution of each
drawing is scheduled based on the order of priority and time sharing.
* Background processing is used to execute internal system processing, e.g., communication processing.
Low-speed scan processing is executed in spare processing time of the high-speed scan. Set the time of the high-speed
scan to approximately double the total execution time for DWG.H.
Operation error
Power ON
DWG.A (initial
processing drawing)
Each high-speed scan Each low-speed scan
Input all Input all
Output all Output all
DWG.X00 * (Operation
error processing
drawing)
DWG.I (Interrupt
processing drawing)
Continuation of
processing before
error occurred
* X=A, I, H, or L
Interrupt signal
Continuation of
processing before
interruption occurred
DWG.H (High-speed
scan processing
drawing)
DWG.H (Low-speed
scan processing
drawing)
DWG.L
DWG.H
: Executing
High-speed scan High-speed scan High-speed scan High-speed scan
Low-speed scan
Background*