Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 93)

7.1 Motion Program Format
7-5
7
Programming
(5) Specific Characters
The meaning and application examples of each specific character are listed below. Refer to the Reference Section
indicated in the following table for details of each specific character.
Character Meaning Application Examples Reference Section
F
Interpolation
feed speed MVS [A1]1000 [B1]2000 F3000000;
MVS [A1]1000 [B1]2000 FML00000;
8.2.2 Linear Interpolation (MVS)
T
Max.
interpolation
feed speed
FMX T30000000;
FMX TML00000; 8.1.7 Maximum Interpolation Feed Speed
Setting (FMX)
Time Settings
TIM T100;
TIM TMW00000;
MVT [A1]1000 [B1]2000 T100;
MVT [A1]1000 [B1]2000 TML00000;
IAC T100;
IAC TML00000;
IDC T100;
IDC TML00000;
8.4.11 Dwell Time (TIM)
8.2.9 Set Time Positioning (MVT)
8.1.9 Interpolation Acceleration Time
Change (IAC)
8.1.10 Interpolation Deceleration Time
Change (IDC)
Number of
turns for
circular
interpolation
MCW [A1]1000 [B1]2000 U500 V500 T2 F3000000;
MCW [A1]1000 [B1]2000 U500 V500 TML00000
F3000000;
8.2.3 Clockwise/Counterclockwise Circular
Interpolation with Center Position Designa-
tion (MCW, MCC)
8.2.4 Clockwise/Counterclockwise Circular
Interpolation with Radius Designation
(MCW, MCC)
R Radius of circle
MCW [A1]1000 [B1]2000 R500 F3000000;
MCW [A1]1000 [B1]2000 RML00000 F3000000;
8.2.3 Clockwise/Counterclockwise Circular
Interpolation with Center Position Designa-
tion (MCW, MCC)
8.2.4 Clockwise/Counterclockwise Circular
Interpolation with Radius Designation
(MCW, MCC)
U
Circle center
point
coordinate 1
(horizontal ax-
is)
MCW [A1]1000 [B1]2000 U500 V500 T2 F3000000;
MCW [A1]1000 [B1]2000 UML00000 V500 T2
F3000000;
8.2.3 Clockwise/Counterclockwise Circular
Interpolation with Center Position Designa-
tion (MCW, MCC)
8.2.4 Clockwise/Counterclockwise Circular
Interpolation with Radius Designation
(MCW, MCC)
V
Circle center
point
coordinate 2
(vertical axis)
MCW [A1]1000 [B1]2000 U500 V500 T2 F3000000;
MCW [A1]1000 [B1]2000 U500 VML00000 T2
F3000000;
8.2.3 Clockwise/Counterclockwise Circular
Interpolation with Center Position Designa-
tion (MCW, MCC)
8.2.4 Clockwise/Counterclockwise Circular
Interpolation with Radius Designation
(MCW, MCC)
P
Interpolation
feed speed
specified by
percentage
IFP P50;
IFP PML00000; 8.1.8 Interpolation Feed Speed Ratio Set-
ting (IFP)
SS
Skip signal
selection SKP [A1]1000 [B1]2000 F3000000 SS1;
SKP [A1]1000 [B1]2000 F3000000 SS2; 8.2.8 Linear Interpolation with Skip Func-
tion (SKP)
D
Movement
amount for
external
positioning
EXM [A1]1000 D1000;
EXM [A1]1000 DML00000;
8.2.10 External Positioning (EXM)
N
Number of
shifts SFR MB001000 N5 W10;
SFR MB001000 NMW00000 W10; 8.8.1 Bit Right Shift (SFR)
8.8.2 Bit Left Shift (SFL)
W Bit width
BLK MW00100 DW00100 W10;
BLK MW00100 DW00100 WMW00000;
8.8.1 Bit Right Shift (SFR)
8.8.2 Bit Left Shift (SFL)
8.8.3 Block Move (BLK)
8.8.4 Clear (CLR)