Yaskawa MotionSuite Series Machine Controller Programming Manual - Manual (Page 42)

MotionSuite™ Series Machine Controller Programming Manual Chapter 2: Motion Commands
2-1
2 Motion Commands
Programing of axial motion commands and control commands are explained in
this chapter.
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