YASKAWA JEPMC-CP3202-E - Page 67

3.1 Basic Functionality
Programs
3-17
3
CPU Unit Functionality
 Sequence Programs
A sequence program is written in a text-based motion language.
There are two types of sequence programs.
 Sequence Program Execution
A sequence program is executed by registering it in the M-EXECUTOR execution definitions.
The sequence programs are executed in ascending order.
The following figure shows an execution example.
If the execution type is set to an H-scan sequence program or L-scan sequence program, then the program
will be executed as soon as the definition is saved. If the execution type is set to a startup sequence pro-
gram, then the program will be executed the next time when the power supply is turned ON.
Type
Designation
Method
Features Number of Programs
Main programs
SPM
(=1 to
512)
Main programs are called from
the M-EXECUTOR program
execution definitions.
You can create up to 512 motion pro-
grams, including the following programs:
• Motion main programs
• Motion subprograms
• Sequence main programs
• Sequence subprograms
Subprograms
SPS
(=1 to
512)
Subprograms are called from a
main program.
The same numbers are used to manage the sequence programs and motion programs.
Use a unique number for each program.
• Motion program numbers are given in the form MPM or MPS.
• Sequence program numbers are given in the form SPM or SPS.
Important
END
END
RET
END
SPM003
SPS101
SPM001
SPM002
SSEE
SPS101
IF MW000<32767;
MW000=MW000+1;
ELSE;
MW000;
IEND;
M-EXECUTOR Program Execution Definitions
Sequence programs
Subprogram