YASKAWA MP3300 series User Manual

3.1 Basic Functionality
3.1.1 Programs
3-7
3
CPU Module Functionality
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. Motion programs are controlled specifically by the sys-
tem’s motion management.
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 or SPS) cannot be called with MSEE instructions from a
ladder program.
MSEE
MPM001
DWG.H
SEE
H01
DEND
DWG.H01
SEE H01.01
END
DEND
END
RETEND
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.
Parent drawing
Child drawing
Grandchild drawing
Motion programs
Subprogram
Note

YASKAWA MP3300 series Specifications

General

Brand	YASKAWA
Model	MP3300 series
Category	Controller
Language	English