Yaskawa MotionSuite Series Machine Controller Programming Instrukcja Użytkownika Pobierz pdf (Strona 2)

MotionSuite™ Series Machine Controller Programming Manual Table of Contents/Preface

1 Motion Programming Outline................................................................................... 1-1

1.1 What is a Motion Program .................................................................................. 1-2

1.1.1 Capabilities of Motion Programs ............................................................... 1-2

1.1.2 Basic Program Structure ............................................................................ 1-3

1.1.3 Function Performance List ......................................................................... 1-5

1.1.4 Motion Program Start ................................................................................ 1-6

1.1.5 Parallel Program Operation ....................................................................... 1-7

1.1.6 Program Editor .......................................................................................... 1-7

1.2 Motion Programming Method ............................................................................1-9

1.2.1 Input Format ..............................................................................................1-9

1.2.2 Control Axes ............................................................................................1-15

1.2.3 Feed Speed ............................................................................................... 1-21

1.2.4 Motion Command List ............................................................................. 1-26

2 Motion Commands ..................................................................................................2-1

2.1 Axial Motion Commands .................................................................................... 2-2

2.1.1 Positioning (MOV) .................................................................................... 2-2

2.1.2 Linear Interpolation (MVS) ....................................................................... 2-7

2.1.3 Circular Interpolation (MCW, MCC) ...................................................... 2-11

2.1.4 Helical Interpolation (MCW, MCC) ........................................................ 2-19

2.1.5 Zero-point Return (ZRN) ........................................................................ 2-22

2.1.6 Skip Command (SKP) ............................................................................. 2-28

2.1.7 Time Designation Positioning (MVT) ..................................................... 2-29

2.1.8 External Positioning (EXM) .................................................................... 2-31

2.2 Control Command ............................................................................................. 2-32

2.2.1 Absolute (ABS) Mode ............................................................................. 2-32

2.2.2 Incremental (INC) Mode ......................................................................... 2-34

2.2.3 Current Value Change (POS) .................................................................. 2-36

2.2.4 Coordinate Plane Designation (PLN) ...................................................... 2-39

2.2.5 Machine Coordinate Command (MVM) ................................................. 2-40

2.2.6 Program Current Position Update (PLD) ................................................. 2-42

2.2.7 Timed Wait (TIM) ................................................................................... 2-43

2.2.8 Program End (END) ................................................................................ 2-44

3 Advanced Programming ........................................................................................... 3-1

3.1 Advanced Control Commands ............................................................................ 3-2

3.1.1 In-Position Check (PFN) Command .......................................................... 3-2

3.1.2 Second In-Position Check (INP) Command .............................................. 3-5

3.1.3 Ignore Single Block (SNG) Command ......................................................3-7

3.1.4 User Function Call-out (UFC) Command ................................................. 3-8

3.1.5 I/O Variable Wait (IOW) Command ....................................................... 3-17

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Yaskawa MotionSuite Series Machine Controller Programming Instrukcja Użytkownika Strona 2