Yaskawa MotionSuite Series Machine Controller Programming Manual - Manual (Page 11)

MotionSuite™ Series Machine Controller Programming Manual Chapter 1: Motion Programmming Outline
1-2
1.1 What is a Motion Program?
A general description of motion programming is presented in this chapter. Be sure to read
this section before doing any programming.
1.1.1 Capabilities of Motion Programs
Using MotionSuite™, it is possible to program the specific motions necessary for
industrial machines. The main characteristics of motion programs are provided below
for reference:
PFORK S1, S2, S3, S4
S1 S2
S3
S4
Motion Program MPM001
S5: PJOINT
Parallel Operation 1
• A maximum of four programs can be operated in parallel
using the PFORK command within a single motion pro-
gram.
• Axes may be freely combined in up to four groups.
Ladder Program
MSEE MPM001 DA0000
MSEE MPM002 DA0002
MSEE MPM003 DA0004
MSEE MPM004 DA0006
Motion Program
MPM001
Motion Program
MPM002
Motion Program
MPM003
Motion Program
MPM004
Simultaneous Control of
Multiple Machines
• Several programs can be operated in
parallel.
• A maximum of 14 axes can be con-
trolled.
Motion Program
MC-1
MC-2
MC-3
MC-4
Machine
Enhanced Motion Commands
• Positioning 14 axes maximum
• Linear Interpolation 14 axes maximum
• Circular Interpolation 2 axes
• Helical Interpolation 3 axes
Maximum 14
axes simultaneous
positioning
2 axes
simultaneous
circular interpolation
Maximum 14
axes simultaneous
linear interpolation