3.1 Basic Functionality
3.1.1 Programs
3-7
3
CPU Module Functionality
The following figure shows an execution example.
The ladder instruction in the H drawing is executed every high-speed scan cycle according to
the hierarchical organization of parent-child-grandchild drawings.
The above programming only prepares for execution of the motion program. The motion pro-
gram 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 pro-
gram is not executed in a single scan. Motion programs are controlled specifically by the sys-
tem’s motion management.
The following points must be taken into consideration when executing motion programs.
•
Motion programs that are registered in the M-EXECUTOR cannot be executed with MSEE
instructions.
•
More than one instance of the same motion program (i.e., the same program number) cannot
be executed with MSEE instructions.
•
Subprograms (MPS
) cannot be executed with MSEE instructions in a ladder program.
You can call subprograms only from motion programs and motion subprograms (MPM
and MPS
).
•
You cannot call the same subprogram more than once at the same time.
•
Sequence programs (SPM
or SPS
) cannot be called with MSEE instructions from a
ladder program.
M
S
EE
MPM001
DWG.H
S
EE
H01
DEND
DWG.H01
S
EE H01.01
END
DEND
END
RET
END
DEND
MPM00
3
MP
S
101
DWG.H01.01
MPM001
MPM002
M
S
EE
MPM002
M
S
EE
MPM00
3
M
S
EE
MP
S
101
VEL [a1]5000 [b1]..
FMX T10000000;
IAC T25;
IDC T
3
0;
MOV [a1]
3
00. [b1]..
MV
S
[a1]200. [b1]..
Execution i
s
s
tarted by
the
s
y
s
tem program
when the execution
condition i
s
met.
Parent drawing
Child drawing
Grandchild drawing
Motion program
s
S
ubprogram
Note
