YASKAWA JEPMC-CP3202-E - Page 59

3.1 Basic Functionality
Programs
3-9
3
CPU Unit Functionality
 Specifying Motion Programs
There are two methods that you can use to specify motion programs.
• Calling the motion program by specifying it directly
• Calling the motion program by specifying it indirectly
These two methods are described below.
• Calling the Motion Program by Specifying It Directly
Direct designation is used to call a motion program by specifying its program number (MPM)
directly.
To call the motion program from a ladder program with the MSEE instruction, specify the program num-
ber in the Program Number operand of the MSEE instruction.
• Calling the Motion Program by Specifying It Indirectly
Indirect designation is used to call a motion program by specifying its number in a register.
In this method, the program (MPM) whose number is the same as the value that is stored in the reg-
ister is called.
To call the motion program from a ladder program with an MSEE instruction, use the Program Number
operand of the MSEE instruction to specify the M or D register that indirectly designates the motion pro-
gram.
The following points must be taken into consideration when executing motion programs.
• Motion programs that are registered in the M-EXECUTOR cannot be executed with MSEE instruc-
tions.
• More than one instance of the same motion program (i.e., the same program number) cannot be exe-
cuted with MSEE instructions.
• Subprograms (MPS) cannot be executed with MSEE instructions in a ladder program.
You can call subprograms only from motion programs and motion subprograms (MPM and
MPS).
• You cannot call the same subprogram more than once at the same time.
• Sequence programs (SPM or SPS) cannot be called with MSEE instructions from a lad-
der program.
Note
ABS;
MOV[X] _ [Y] _
MOV[X] _ [Y] _
MVS[X] _ [Y] _ F
IOW MB0001
.
.
.
MPM001
MSEE Instruction
MPM address
Ladder Program
Motion Program