Yaskawa MP2300S Basic Module Uživatelský manuál stáhnout pdf (Strana 142)

100

101

5.2 User Programs

5.2.2 Motion Programs

5-9

Outline of Motion Control Systems

( 2 ) How to Run a Motion Program

The following two methods are available for running a motion program.

• Registering it to the M-EXECUTOR program execution definition

• Executing it using a MSEE command from a ladder program of H drawing

Now, this section explains each way to run a motion program:

[ a ] Registering it to the M-EXECUTOR Program Execution Definition

After creating a motion program, register it in the M-EXECUTOR program execution definition screen.

The programs registered in the M-EXECUTOR program execution definition screen are executed in ascending

numeric order.

The execution example is shown in the figure below.

The above method is a preparation for running a motion program. When registered in the M-EXECUTOR program

execution definition, a motion program does not start up. To start up the motion program, after the motion program reg-

istration, use a control signal to turn ON the request for the program operation startup.

The motion program registered in M-EXECUTOR is executed at a scan cycle, but similar to a ladder, the whole pro-

gram cannot be executed at a single scan. In case of the motion program, a motion management function in the system

carries out an execution control exclusive for the motion programs.

 Caution

When registering a motion program to M-EXECUTOR, pay attention to the followings:

• Multiple motion programs with the same number cannot be registered.

• Multiple motion programs with the same number cannot be referenced using an indirect designation.

END

RET

END

MPM003

MPS101

MPM001

M-EXECUTOR program execution definition

Motion program

Subroutine

MPM002

MSEE

MPS101

VEL [a1]5000 [b1]..

FMX T10000000;

IAC T25;

IDC T30;

MOV [a1]300. [b1]..

MVS [a1]200. [b1]..

1 2 ... 137 138 139 140 141 142 143 144 145 146 147 ... 459 460

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