5
Outline of Motion Control Systems
5.2.3
Motion Programs
5-10
5.2.3 Motion Programs
( 1 ) Outline
Motion programs are programs written in a text-based language called motion language. Up to 256
motion programs can be created separate from ladder drawings.
The following table shows the two types of motion programs.
Specify a different MPM and MPS program number (
) between 1 and 256 for each program.
The MP2300 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
There are two methods for specifying motion programs: direct specification of the program number
or indirect specification by specifying the register number where the program number is stored.
Fig. 5.1 Calling Motion Programs Using Direct Specification
Fig. 5.2 Calling Motion Programs Using Indirect Specification
For the meaning of register numbers and how to interpret them, refer to 5.3 Registers on page 5-
21.
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.
Subprogram
MPS
（ ＝
1~256
）
Can be called from main programs
Motion program call command
MPM No.
Ladder program Motion program
ABS;
MOV[X] _ [Y] _
MOV[X] _ [Y] _
MVS[X] _ [Y] _ F
IOW MB0001
.
.
.
MPM001
Register No.
Motion program call command
Ladder program
Motion program
Setting device
MPM No.
Stored in
register
MW00200.
0 3
ABS;
IOW MB0001
.
.
.
MOV[X] _ [Y] _
MOV[X] _ [Y] _
MVS[X] _ [Y] _ F
∗
MW00200 = 3
MPM003
㧩
MW00200 = 3
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