Yaskawa MotionSuite Series Machine Controller Programming Manual User Manual
Page 2
MotionSuite™ Series Machine Controller Programming Manual
Table of Contents/Preface
i
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