YASKAWA MP3000 Series, Setup Manual, Page: 134 / 326

This chapter describes the types of user programs and
describes how to create and write them to the Controller.
4.1 User Program Types and Execution Timing 4-3
4.1.1 Ladder Programs . . . . . . . . . . . . . . . . . . . . . . . . 4-3
4.1.2 Motion Programs . . . . . . . . . . . . . . . . . . . . . . . 4-12
4.1.3 Sequence Programs . . . . . . . . . . . . . . . . . . . . . 4-24
4.1.4 The M-EXECUTOR . . . . . . . . . . . . . . . . . . . . . . 4-26
4.1.5 Registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-41
4.2 Creating Ladder Programs . . . . . . . . . . . . 4-53
4.3 Creating Motion Programs . . . . . . . . . . . . 4-57
4.3.1 Creating a Group Definition . . . . . . . . . . . . . . . . 4-57
4.3.2 Creating a Motion Main Program . . . . . . . . . . . 4-58
4.3.3 Creating a Motion Subprogram . . . . . . . . . . . . . 4-60
4.4 Creating a Sequence Program . . . . . . . . . 4-62
4.4.1 Creating a Sequence Main Program . . . . . . . . . 4-62
4.4.2 Creating a Sequence Subprogram . . . . . . . . . . 4-63
4.5 Transferring Data with the MPE720 . . . . . . 4-65
4.5.1 Writing Parameters to the Machine Controller . . 4-66
4.5.2 Writing into a Project File . . . . . . . . . . . . . . . . . 4-67
4.5.3 Reading from the Machine Controller . . . . . . . . 4-68
4.5.4 Reading from a Project File . . . . . . . . . . . . . . . . 4-68
4.5.5 Saving to Flash Memory . . . . . . . . . . . . . . . . . . 4-69
4.5.6 Comparing to the Machine Controller . . . . . . . . 4-70
4.5.7 Comparing Flash Memory and RAM Data . . . . . 4-70
4.5.8 Comparing to a Project File . . . . . . . . . . . . . . . . 4-70
Creating User
Programs
4