YASKAWA MP2300 - Page 159

5.2
User Programs
5-11
5
Outline of Motion Control Systems
( 2 ) Groups
A group of axes with related operations can be treated as one group by motion programs and programs can be executed
for each group. This allows one MP2300 to independently control multiple machines using group operation. Group
operation can be single group operation or multiple group operation.
Definitions for axes to be grouped together are made under Group Definitions. For details on group definitions, refer to
Machine Controller MP900/MP2000 Series User’s Manual MPE720 Software for Programming Device
(SIEPC88070005).
( 3 ) Motion Program Execution Example
Motion programs are always called from H drawings using the MSEE command (motion program call command).
Motion programs can be called from any parent, child, or grandchild drawing in an H drawing.
The following figure shows an example of motion program execution.
H drawing ladder commands are executed in hierarchical order i.e., parent drawings, child drawings, then grandchild
drawings each high-speed scan cycle.
Motion programs are also called each scan cycle, but unlike ladder programs, all motion programs cannot be executed
in one scan. For this reason, motion programs are executed and controlled by special system’s motion management
function.

Ladder program MSEE commands cannot call motion program subroutines (MPS

). Subroutines can be called
only from motion programs (MPM

and MPS

).

The same motion program or same subroutine can be called only once in one scan.
MP2300
SGDS
SGDS
SGDS
SGDS
SGDS
X1 Y1 Z1 A1 B1

MP2300
SGDS
SGDS
SGDS
SGDS
SGDS
X1 Y1 Z1 A1 B1

(a) Single Group Operation
(b) Multiple Group Operation
H01
SEE
DWG.H
SEE H01.01
DWG.H01
DWG.H01.01
DEND
MPM001
MSEE
.
.
.
MVS [a1]200. [b1]..
MOV [a1]300. [b1]..
IDC T30;
IAC T25;
FMX T10000000;
VEL [a1]5000 [b1]..
MPS101
MSEE
MPM002
MPM001
MPM003
END
END
END
MPM002
MSEE
DEND
MPM003
MSEE
MPS101
RET
DEND
Parent Drawings Child Drawings Grandchild Drawings Motion Programs
System programs are
started according to
execution conditions.
Subroutine