Yaskawa MP900 Series Motion Programming Manual - Manual (Page 16)

Overview of Motion Programs
1.1.1 Motion Programming Capabilities
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1.1 Motion Programming
This section gives an overview of motion programming. Be sure to read through this section before
starting to program.
1.1.1 Motion Programming Capabilities
The MP series Machine Controller can be programmed to perform motions required for indus-
trial machines.
For reference, the following examples illustrate the main features of motion programs.
J Parallel Execution
D Up to four program blocks can be executed in parallel within one motion program applica-
tion.
D Up to four program blocks can be executed in parallel using the PFORK command.
D A total of four parallel axes can be freely controlled.
PFORK S1, S2, S3, S4;
S5: PJOINT
Motion Program MPM001
S1 S2
S3
S4
J
Simultaneous Control of Multiple Machines
Multiple machines can be controlled simultaneously by one MP series Machine Controller.
MSEE MPM001 DA0000
Motion
program
MPM001
Ladder Logic Program Motion Programs Machines
MC-1
MC-2
MC-3
MC-4
Motion
program
MPM002
Motion
program
MPM003
Motion
program
MPM004
MSEE MPM002 DA0002
MSEE MPM003 DA0004
MSEE MPM004 DA0006
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