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5 Outline of Motion Control Systems
5.2.3 Motion Programs
5.2.3 Motion Programs
( 1 ) Outline
Motion programs are programs written in a text-based language called motion language. Up to 256 motion programs
can be created separate from ladder drawings.
The following table shows the two types of motion programs.
Specification
Method
Type
MPM†††
(††† ＝ 1 to 256)
Main Program
Features
Accessed from DWG.H
MPS†††
Can be called from main programs
（††† ＝ 1 to 256）
Subprogram
No. of Programs
Up to 256 programs (including main and
sub programs) can be created.
Œ Specify a different MPM and MPS program number (†††) between 1 and 256 for each program.
ΠThe MP2300 can execute up to 16 motion programs simultaneously. An alarm (no system work error*) will occur if
17 or more programs are executed simultaneously.
* No system work error: Bit E of the leading word in the MSEE work registers
There are two methods for specifying motion programs: direct specification of the program number or indirect specification by specifying the register number where the program number is stored.
MPM001
ABS;
Motion program call command
MOV[X] _ [Y] _
MVS[X] _ [Y] _ F
IOW MB0001
MOV[X] _ [Y] _
.
.
.
MPM No.
Ladder program
Motion program
Fig. 5.1 Calling Motion Programs Using Direct Specification
MPM003
ABS;
Motion program call command
0 3
MOV[X] _ [Y] _
Setting device
MVS[X] _ [Y] _ F
IOW MB0001
Stored in
register
MW00200.
∗ MW00200
MOV[X] _ [Y] _
.
.
.
Register No.
=3
Ladder program
MPM No.
㧩MW00200
Motion program
=3
Fig. 5.2 Calling Motion Programs Using Indirect Specification
ΠFor the meaning of register numbers and how to interpret them, refer to 5.3 Registers on page 5-21.
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