Yaskawa MotionSuite Series Machine Controller Programming Manual - Manual (Page 35)

MotionSuite™ Series Machine Controller Programming Manual Chapter 1: Motion Programmming Outline
1-26
1.2.4 Motion Command List
A list of the motion commands is given in the table below:
Type Command Name Command Format Function/Meaning
Axis
Moti
on
Com
m
ands
MOV Positioning MOV [axis1]— [axis2]— ... ;
(Up to 14 axes may be designated) Positioning can be simulta-
neously executed by fast feed for
up to 14 axes.
MVS Linear
Interpola-
tion MVS [axis1]— [axis2]— ... F—;
(Up to 14 axes may be designated) Linear motion can be simulta-
neously executed at interpolation
feed speed F for up to 14 axes.
MCW
MCC Circular
Interpola-
tion
(clockwise)
(counter-
clockwise) MCW [axis1]— [axis2]— R— F—;
MCC [axis1]— [axis2]—U—V—
T—F—; Simultaneously executes interpo-
lation for 2 axes at tangential
speed F according to a circle of
radius R (or a designated mid-
point coordinate). It is possible
to designate multiple circles in
T— during mid-point coordinate
designation (T— may also be
omitted).
MCW
MCC Helical
Interpola-
tion
(clockwise)
(counter-
clockwise) MCW [axis1]— [axis2]— U—V—
[axis3]—T—F—;
MCC [axis1]— [axis2]—R—
[axis3]—F—; Simultaneously moves 3 axes by
combining circular interpolation
and linear interpolation outside
the circular interpolation plane.
It is possible to designate multi-
ple circles in T— during mid-
point coordinate designation
(T— may also be omitted).
ZRN Zero Point
Return ZRN [axis1]— [axis2]— ...;
(Up to 14 axes may be designated) Returns each axis to the zero
point after [mid-position] posi-
tioning. Zero return is executed
immediately without mid-posi-
tioning after the first time power
is turned ON.
SKP Skip Com-
mand SKP[axis1]— [axis2]— ...SS—;
(Up to 14 axes may be designated) When the skip signal is turned
ON during linear interpolation,
the remaining motion is skipped,
and the system proceeds to the
next block. The machine records
the position at which the skip sig-
nal went ON.
MVT Time
Designation
Positioning MVT [axis1]— [axis2]— ...T—;
(Up to 14 axes may be designated) Executes positioning after clamp-
ing feed speed so that positioning
is completed in a designated
time.
EXM External
Positioning EXM[axis] - A~B (one axis only) Moves to designated position (A)
if signal is not input.
Moves the incremental amount
(B) from when the signal is input.