6 Basic System Operation
6.3.3 Motion Program
6-14
(2) Motion Program Execution Processing Method
A motion program must be called from DWG.H using the MSEE instruction. Motion programs can be called
from any DWG.H, i.e., from parent, child, and grandchild DWG.H.
A motion program execution example is shown below.
In each high-speed scanning cycle, the ladder instructions for DWG.H are executed in the following hierarchical
order: Parent drawing - child drawing - grandchild drawing.
Motion programs are called in the scanning cycle, but as with ladder programs, all programs cannot necessarily
be executed in one scan. Motion programs are executed and controlled by special system motion management
functions.
The following points apply to calling motion programs. Call motion program with care.
• More than one motion program with the same number cannot be called using the MSEE instruction.
• Subprograms (MPS
) cannot be called from the ladder program MSEE instruction. They can be called only from
within motion programs (MPM
and MPS
).
• The same subprogram cannot be called from two different locations at the same time.
MSEE
MPM001
DWG.H
SEE
H01
DEND
DWG.H01
SEE H01.01
END
DEND
END
RET
END
DEND
MPM003
MPS101
DWG.H01.01
MPM001
Parent Drawing
Child Drawing
Grandchild Drawing
Motion Main Programs
The system program is started according
to the execution condition.
MPM002
MSEE
MPM002
MSEE
MPM003
MSEE
MPS101
Motion Subprogram
VEL [a1]5000 [b1]..
FMX T10000000;
IAC T25;
IDC T30;
MOV [a1]300. [b1]..
MVS [a1]200. [b1]..
.
.
.
INFO
