Yaskawa MP900 Series Motion Programming Manual Manual de usuario descargar pdf (Pagina 30)

Overview of Motion Programs

1.1.3 Starting Motion Programs

1 -16

Multiple Groups Operation

SGD

X1 Y1 Z1 A1 B1

MP-series Machine

Controller

J Motion Program Execution Processing Method

Motion programs must be called from DWG.H using the MSEE command. H drawings can be

called from parent, child, or grandchild drawings.

The system program is started

according to the execution condition.

Parent Drawing

Child Drawing

Grandchild Drawing

DWG.H

SEE H01

DEND

DWG.H01

SEE H01.01

DEND

END

RET

END

DEND

MPM003

MPS001

DWG.H01.01

MPM001

MPM002

VEL [a1] 5000 [b1]..

FMX T10000000;

IAC T25;

IDC T30;

MOV [a1] 300. [b1]..

MVS [a1] 200. [b1]..

END

MSEE MPS001

MSEE

MPM002

MSEE

MPM001

Motion Programs

Subroutine

MSEE

MPM002

D In each high-speed scanning cycle, the ladder logic commands for DWG. H are executed in

the hierarchical order: Parent drawing→Child drawing→Grandchild drawing.

D Motion programs are called in the scanning cycle, but unlike ladder logic programs, all pro-

grams cannot be executed in a single scan. So, the motion-management functions of the sys-

tem control the execution of the motion program.

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Yaskawa MP900 Series Motion Programming Manual Manual de usuario Pagina 30

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