YASKAWA MP3000 Series - Page 152

4.1 User Program Types and Execution Timing
4.1.2 Motion Programs
4-19
4
Creating User Programs
Using the Work Registers
The work registers for motion program are used differently depending on whether the motion
program is called from a ladder program using an MSEE instruction, or the motion program is
registered in the M-EXECUTOR program execution definitions.
This section describes these two methods.
 When the Motion Program Is Called from the Ladder Program with an
MSEE Instruction
When a motion program is called from the ladder program with an MSEE instruction, the
motion program is controlled by either a sequence program or a ladder program.
To use this method, include the MSEE instruction in a ladder H drawing. In this case, the MSEE
work registers are used to set and monitor the motion program.
The following figure shows a setting example.
The next page shows an example of a ladder program that controls the motion program.
DWG.H
END
MPM001
END
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VEL [a1] 5000 [b1]..
FMX T10000000;
IAC T25;
IDC T30;
MOV [a1] 300. [b1]..
MVS [a1] 200. [b1]..
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DAxxxxx
DAxxxxx+1
DAxxxxx+2
DAxxxxx+3
External Ladder Control Signals
• Start operation
• Pause
• Stop
Etc.
Ladder diagram that controls
the motion program
Ladder Program
Status
Control Signals
Interpolation Override
System Work Number
Execution Control with
Motion Management
Motion Program
x: Decimal number
Accessing the MSEE
work registers
Address of rst MSEE
work register
Motion program number
MSEE work
register
address