YASKAWA JEPMC-PSA3012-E, Руководство пользователя

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3.1 Basic Functionality
Programs
3-8

Motion Program Execution
Motion programs are called with an MSEE instruction from a ladder program in an H drawing.
After you create the motion program, place a Call Motion Program (MSEE) instruction in the ladder pro-
gram of an H drawing. Motion programs can be called from any H drawing, regardless of whether it is a
parent, child, or grandchild drawing.
The following figure shows an execution example.
The ladder instruction in the H drawing is executed every high-speed scan cycle according to the hierar-
chical organization of parent-child-grandchild drawings.
The above programming only prepares for execution of the motion program. The motion program 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 program is not
executed in a single scan. Motion programs are controlled specifically by the system’s motion manage-
ment.
You can also register the motion program in the M-EXECUTOR (Motion Executor) to call it. Refer to
the following section for details.
The M-EXECUTOR (page 3-56)
Note
MSEE
MPM001
DWG.H
SEE
H01
DEND
DWG.H01
SEE H01.01
END
DEND
END
RET END
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