Yaskawa MotionSuite Series Machine Controller Programming Manual - Manual (Page 2)

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