6 Basic System Operation
6.3.3 Motion Program
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6.3.3 Motion Program
Motion program is a textual program utilized motion language. Maximum 256 motion program can be created,
separated from the ladder programs.
Two types of motion program are provided.
Each MPM
and MPS
program number must be unique.
With the MP2100, up to 16 motion programs can be executed at the same time. If 17 or more motion pro-
grams are executed, an alarm (no system work error)
∗
will occur.
* No system work error: Bit E in the first word of the MSEE work registers
There are two methods of designating a motion program: Direct designation of the program number, and indirect
designation of the number of the register in which the program number is stored.
Figure 6.2 Calling a Motion Program by Direct Designation
Figure 6.3 Calling a Motion Program by Indirect Designation
Classification
Designation Method
Feature
Number of Programs
Main Programs
MPM
1 to 256
Can be called from DWG.H drawings. A total of up to 256 main pro-
grams and subprograms can be
created.
Subprograms
MPS
1 to 256
Can be called from the main pro-
grams.
IMPORTANT
MOTION PROGRAM
CALL command
MPM No.
MSEE MPM001 DA00000
ABS;
MOV[X] _ [Y] _
MOV[X] _ [Y] _
MVS[X] _ [Y] _ F
IOW MB0001
.
.
Ladder Program
Motion Program
MPM001
MOTION PROGRAM
CALL command
MSEE MW00200 DA00000
Ladder Program
Motion Program
0 3
Setting device
MPM No.
ABS;
IOW MB0001
.
.
Register No.
Depends on
the contents
of MW00200.
MOV[X] _ [Y] _
MOV[X] _ [Y] _
MVS[X] _ [Y] _ F
∗
MW00200 = 3
MPM003
