Yaskawa MotionSuite Series Machine Controller Programming Manual - Manual (Page 3)

MotionSuite™ Series Machine Controller Programming Manual Table of Contents/Preface
ii
3.1.6 Sub-program Call-out (MSEE) Command .............................................. 3-18
3.1.7 Sub-program End (RET) Command ........................................................ 3-19
3.1.8 1-scan Wait (EOX) Command ................................................................. 3-20
3.1.9 Branch (IF ELSE IEND) Command ........................................................ 3-22
3.1.10 Repeat (WHILE WEND) Command ....................................................... 3-24
3.1.11 Parallel Execution (PFORK, JOINTO, PJOINT) Command .................. 3-26
3.1.12 Selective Execution (SFORK, JOINTO, SJOINT) Command ................ 3-31
3.2 Speed/Acceleration Commands ........................................................................ 3-34
3.2.1 Acceleration Time Change (ACC) Command ......................................... 3-34
3.2.2 S-Curve Time Constant Change (SCC) Command ................................. 3-36
3.2.3 Feed Speed Change (VEL) Command ..................................................... 3-38
3.2.4 Interpolation Feed Speed Ratio Setting (IFP) Command ........................ 3-40
3.2.5 Maximum Interpolation Feed Speed Setting (FMX) Command ............. 3-42
3.2.6 Interpolation Acceleration Time Change (IAC) Command .................... 3-44
3.2.7 Interpolation Deceleration Time Change (IDC) Command .................... 3-46
4 Sequence Commands ................................................................................................ 4-1
4.1 Sequence Command Outline .............................................................................. 3-2
4.1.1 Calculation Commands .............................................................................. 4-2
4.1.2 Arithmetic Calculation Combination ......................................................... 4-4
4.1.3 Logical Calculation Combination .............................................................. 4-5
4.2 Aritmetic Calculations ......................................................................................... 4-6
4.2.1 Substitution (=) ......................................................................................... 4-6
4.2.2 Addition (+) ............................................................................................... 4-7
4.2.3 Subtraction (–) ........................................................................................... 4-8
4.2.4 Multiplication (*) ....................................................................................... 4-9
4.2.5 Division (/) ............................................................................................... 4-10
4.2.6 Remainder (MOD) ................................................................................... 4-11
4.3 Logical Calculations .......................................................................................... 4-12
4.3.1 Logical OR (|) .......................................................................................... 4-12
4.3.2 Logical AND (&) ..................................................................................... 4-13
4.3.3 Exclusive OR (^) ...................................................................................... 4-14
4.3.4 NOT (!) .................................................................................................... 4-15
4.4 Value Comparisons ............................................................................................ 4-16
4.4.1 Value Comparison Command (= =, < >, >, <, >=, <=) ........................... 4-16
4.5 Data Operations ................................................................................................. 4-18
4.5.1 Bit Right-shift (SFR) Command .............................................................. 4-18
4.5.2 Bit Left-shift (SFL) Command ................................................................ 4-20
4.5.3 Block Transfer (BLK) .............................................................................. 4-22
4.5.4 Clear (CLR) ............................................................................................. 4-24