YASKAWA MP3000 Series - Page 146

4.1 User Program Types and Execution Timing
4.1.2 Motion Programs
4-13
4
Creating User Programs
Motion Program Execution
Motion programs are called with an MSEE instruction from a ladder program in an H drawing.
After you create the motion program, place a Call Motion Program (MSEE) instruction in the
ladder program of an H drawing. Motion programs can be called from any H drawing, regard-
less of whether it is a parent, child, or grandchild drawing.
The following figure shows an execution example.
The ladder instruction in the H drawing is executed every high-speed scan cycle according to
the hierarchical organization of parent-child-grandchild drawings.
The above programming only prepares for execution of the motion program. The motion pro-
gram is not executed when the MSEE instruction is inserted. To start the motion program after
inserting the MSEE instruction, use a control signal to turn ON the Request for Start of Program
Operation.
The motion program is executed in the scan cycle, but unlike ladder programs, the entire pro-
gram is not executed in a single scan. Execution of motion programs is controlled by the sys-
tem.
You can also register the motion program in the M-EXECUTOR (Motion Executor) to call it. Refer
to the following section for details.
The M-EXECUTOR (page 4-26)
The following points must be taken into consideration when executing motion programs.
• Motion programs that are registered in the M-EXECUTOR cannot be executed with MSEE
instructions.
• More than one instance of the same motion program (i.e., the same program number) cannot
be executed with MSEE instructions.
• Subprograms (MPS) cannot be executed with MSEE instructions in a ladder program.
You can call subprograms only from motion programs and motion subprograms (MPM
and MPS).
• You cannot call the same subprogram more than once at the same time.
• Sequence programs (SPM and SPS) cannot be called with MSEE instructions from
a ladder program for the CPU-03 or CPU-04.
Note
MSEE
MPM001
DWG.H
SEE
H01
DEND
DWG.H01
SEE H01.01
END
DEND
END
RET
END
DEND
MPM003
MPS101
DWG.H01.01
MPM001
MPM002
MSEE
MPM002
MSEE
MPM003
MSEE
MPS101
VEL [a1]5000 [b1]..
FMX T10000000;
IAC T25;
IDC T30;
MOV [a1]300. [b1]..
MVS [a1]200. [b1]..
.
.
.
Execution is started by the
system program when the
execution condition is met.
Grandchild drawing Motion programs
Subprogram
Child drawingParent drawing
Note