YASKAWA MP2100 Series User Manual

6.3 User Programs
6-9
6
The following table gives details of the number of drawings for each type of drawing.
6.3.2 Execution Control of Drawings
(1) Execution Control of Drawings
Each drawing is executed based on its priority level, as shown in the diagram below.
(2) Execution Scheduling of Scan Process Drawings
The scan process drawings are not executed simultaneously. As shown below, they are scheduled based on the
priority level and are executed according to the schedule.
* Used for internal system processes, such as communication.
The low-speed scan process is executed in the unused time of the high-speed scan process. Therefore, as a guide-
line, set a time that is twice the execution time of all the DWG.H drawings as the high-speed scan time.
Drawing
Number of Drawings
DWG.A DWG.I DWG.H DWG.L
Parent Drawing 1 (A) 1 (I) 1 (H) 1 (L)
Operation Error
Drawing
1 (A00) 1 (I00) 1 (H00) 1 (L00)
Child Drawings Maximum total of
62 drawings
Maximum total of
62 drawings
Maximum total of
198 drawings
Maximum total of
498 drawings
Grandchild
Drawings
Operation error
Power ON
DWG.A
Startup drawings
During each high-speed scan During each low-speed scan
All inputs All inputs
All outputs All outputs
DWG.H
High-speed scan process
drawings
DWG.L
Low-speed scan process
drawings
DWG. X00 DWG. I
Operation error drawings
Continue with original
process
X:A,I,H,L
∗
Interrupt signal
Interrupt drawings
Continue with original
process
∗
: Executed
High-speed
scan
Low-speed scan
DWG.H
DWG.L
Background
∗
High-speed
scan
High-speed
scan
High-speed
scan

YASKAWA MP2100 Series Specifications

General

Brand	YASKAWA
Model	MP2100 Series
Category	Controller
Language	English