YASKAWA MP2100 Series User Manual

6 Basic System Operation
6.3.3 Motion Program
6-12
6.3.3 Motion Program
Motion program is a textual program utilized motion language. Maximum 256 motion program can be created,
separated from the ladder programs.
Two types of motion program are provided.
Each MPM and MPS program number must be unique.
With the MP2100, up to 16 motion programs can be executed at the same time. If 17 or more motion pro-
grams are executed, an alarm (no system work error)
∗
will occur.
* No system work error: Bit E in the first word of the MSEE work registers
There are two methods of designating a motion program: Direct designation of the program number, and indirect
designation of the number of the register in which the program number is stored.
Figure 6.2 Calling a Motion Program by Direct Designation
Figure 6.3 Calling a Motion Program by Indirect Designation
Classification Designation Method Feature Number of Programs
Main Programs
M
PM

1 to 256 Can be called from DWG.H drawings. A total of up to 256 main pro-
grams and subprograms can be
created.
Subprograms MPS

1 to 256 Can be called from the main pro-
grams.
IMPORTANT
MOTION PROGRAM
CALL command
MPM No.
MSEE MPM001 DA00000
ABS;
MOV[X] _ [Y] _
MOV[X] _ [Y] _
MVS[X] _ [Y] _ F
IOW MB0001
.
.
Ladder Program Motion Program
MPM001
MOTION PROGRAM
CALL command
MSEE MW00200 DA00000
Ladder Program Motion Program
0 3
Setting device
MPM No.
ABS;
IOW MB0001
.
.
Register No.
Depends on
the contents
of MW00200.
MOV[X] _ [Y] _
MOV[X] _ [Y] _
MVS[X] _ [Y] _ F
∗
MW00200 = 3
MPM003

YASKAWA MP2100 Series Specifications

General

Brand	YASKAWA
Model	MP2100 Series
Category	Controller
Language	English