7.1 User Program Types and Execution Timing
7.1.2 Motion Programs
7
Cr
eating U
s
er Pr
ogram
s
7-13
Specifying Motion Programs
There are two methods that you can use to specify motion programs.
•
Calling the motion program by specifying it directly
•
Calling the motion program by specifying it indirectly
These two methods are described below.
Calling the Motion Program by Specifying It Directly
Direct designation is used to call a motion program by specifying its program number
(MPM
) directly.
To call the motion program from a ladder program with the MSEE instruction, specify the pro-
gram number in the Program Number operand of the MSEE instruction.
Calling the Motion Program by Specifying It Indirectly
Indirect designation is used to call a motion program by specifying its number in a register.
In this method, the program (MPM
) whose number is the same as the value that is stored
in the register is called.
To call the motion program from a ladder program with an MSEE instruction, use the Program
Number operand of the MSEE instruction to specify the M or D register that indirectly desig-
nates the motion program.
AB
S
;
MOV[X] _ [Y] _
MOV[X] _ [Y] _
MV
S
[X] _ [Y] _ F
IOW MB0001
.
.
.
MPM001
MPM number
Motion Program
Ladder Program
Call Motion Program In
s
truction
0
3
AB
S
;
IOW MB0001
.
.
.
MOV[X] _ [Y] _
MOV[X] _ [Y] _
MV
S
[X] _ [Y] _ F
(MW00200 =
3
)
MPM00
3
Regi
s
ter addre
ss
The value i
s
s
tored
in the MW00200
regi
s
ter.
S
etting device
Motion Program
Ladder Program
Call Motion Program In
s
truction
