Yaskawa MP900 Series Motion Programming Manual Instrukcja Użytkownika Pobierz pdf (Strona 28)

Overview of Motion Programs

1.1.3 Starting Motion Programs

1 -14

Item Specification

Command Words

Axis Move Commands: 12 commands

MOV, MVS, MCW, MCC, ZNR, SKP, MVT, EXM, VCS,

VCR, TCS, TCR

Basic Control Commands: 6 commands

ABS, INC, POS, PLN, MVM, PLD

Speed and Acceleration/Deceleration Commands: 8 commands

ACC, DCC, SCC, VEL, LAC, IDC, IFP, FMX

High-level Control Commands: 4 commands

PFN, INP, SNG, UFC

Control Commands: 11 commands

MSEE, TIM, JOW, END, RET, BOX, IF ELSE IEND,

WHILE WEND, PFORK JOINTO PJOINT, SFORK JOIN-

TO SJOINT, GOTO

Math and Sequence Control Commands: 32 commands

=, +, −, *, /, MOD, |, ^, &, !, (), S{}, R{}, SIN, COS, TAN,

ASN, ACS, ATN, SQRT, BIN, BCD, ==, <>, >, <, >=, <=,

SFR, SFL, BLK, CLR

Table Data Operation Commands: 2 commands

TBLBR, TBLBW

Character String Operation Commands: 3 commands

ASCII, BINASC, ASCBIN

1.1.3 Starting Motion Programs

Motion programming is a textual motion programming language. Motion programming can be

used to create 256 programs separate from the ladder drawings.

Two types of motion program are provided: Main programs (MPM jjj) that can be called

from DWG.H, and subroutines (MPSjjj) that can be called from the main programs.

Table 1.7 Types of Motion Program

Classification Designation Method Feature Number of

Programs

Main programs

MPMjjj

1 to 256

Can be called from

DWG.H.

A total of up to 256

main programs and

Subroutines

MPSjjj

1 to 256

Can be called from the

main programs.

subroutines can be

created.

The same MPM or MPS number cannot be used more than once.

IMPORTANT

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