Yaskawa MP900 Series Motion Programming Manual User Manual
User's manual motion programming
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Table of contents
Document Outline
- Front Cover
- Safety Information
- Visual Aids
- Contents
- Overview
- Using This Manual
- Safety Precautions
- Warranty
- 1 Overview of Motion Programs
- 2 Motion Commands
- 2.1 Axis Move Commands
- 2.1.1 POSITIONING (MOV)
- 2.1.2 LINEAR INTERPOLATION (MVS)
- 2.1.3 CLOCKWISE/COUNTERCLOCKWISE CIRCULAR INTERPOLATION (MCW, MCC)
- 2.1.4 CLOCKWISE/COUNTERCLOCKWISE HELICAL INTERPOLATION (MCW, MCC)
- 2.1.5 ZERO POINT RETURN (ZRN)
- 2.1.6 SKIP FUNCTION (SKP)
- 2.1.7 SET TIME POSITIONING (MVT)
- 2.1.8 EXTERNAL POSITIONING (EXM)
- 2.2 Control Commands
- 2.1 Axis Move Commands
- 3 Advanced Programming
- 3.1 High-Level Control Commands
- 3.1.1 SECOND IN-POSITION CHECK (PFN)
- 3.1.2 SET SECOND IN-POSITION RANGE (INP)
- 3.1.3 IGNORE SINGLE-BLOCK SIGNAL (SNG), SINGLE-BLOCK SIGNAL DISABLED/ENABLED (SNGD/SNGE)
- 3.1.4 USER FUNCTION CALL (UFC)
- 3.1.5 I/O VARIABLE WAIT (IOW)
- 3.1.6 SUBROUTINE CALL (MSEE)
- 3.1.7 SUBROUTINE RETURN (RET)
- 3.1.8 ONE SCAN WAIT (EOX)
- 3.1.9 Branching Commands: IF...ELSE...IEND
- 3.1.10 Repeat Commands: WHILE...WEND
- 3.1.11 Parallel Execution Commands (PFORK, JOINTO, PJOINT)
- 3.1.12 Selective Execution Commands (SFORK, JOINTO, SJOINT)
- 3.2 Speed and Acceleration/Deceleration Commands
- 3.2.1 ACCELERATION TIME CHANGE (ACC)
- 3.2.2 DECELERATION TIME CHANGE (DCC)
- 3.2.3 S - CURVE TIME CONSTANT CHANGE (SCC)
- 3.2.4 SET SPEED (VEL)
- 3.2.5 INTERPOLATION FEED SPEED RATIO SETTING (IFP)
- 3.2.6 MAXIMUM INTERPOLATION FEED SPEED (FMX)
- 3.2.7 INTERPOLATION ACCELERATION TIME CHANGE (IAC)
- 3.2.8 INTERPOLATION DECELERATION TIME CHANGE (IDC)
- 3.1 High-Level Control Commands
- 4 Sequence Commands
- 5 Variables (Registers)
- 6 MP2300S/MP2400 Exclusive-use Commands
- A Motion Command List
- B Motion Program Alarm List
- Revision History
- Back Cover