Yaskawa MP900 Series Motion Programming Manual - Manual (Page 21)

1.1 Motion Programming
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Item Specification
Coordinate System Rectangular coordinates
Zero Point Return Eight types
1. DEC1 + Phase C 5.DEC1 + ZERO
2. DEC2 + Phase C 6.DEC2 + ZERO
3. DEC1 + LMT 7.DEC1 + LMT + ZERO
4. Phase C 8.ZERO
Programs Language Special motion language, ladder language
Number of
Tasks Up to eight programs can be executed in parallel.
Number of
Programs Up to 256
Program
Capacity 80 Kbytes
Applicable Servopack
S Analog
SGDA-j/SGDB-jjj/SGDM-jj
S Network
SGD-jN/SGDB-jN
Encoder Incremental or absolute
Command Words Axis Move Commands: 8 commands
MOV, MVS, MCW, MCC, ZRN, SKP, MVT, EXM
Basic Control Commands: 6 commands
ABS, INC, POS, PLN, MVM, PLD
Speed and Acceleration/Deceleration Commands: 8 commands
ACC, SCC, VEL, IAC, IDC, IFP, FMX
High-level Control Commands: 4 commands
PFN, INP, SNG, UFC
Control Commands: 10 commands
MSEE, TIM, IOW, END, RET, EOX, IF ELSE IEND,
WHILE WEND, PFORK JOINTO PJOINT, SFORK JOIN-
TO SJOINT
Math and Sequence Control Commands: 36 commands
=, +, −, *, /, MOD, |, ^, &, !, (), S{}, R{}, SIN, COS, TAN,
ASN, ACS, ATN, SQRT, BIN, BCD, ==, <>, >, <, >=, <=,
TON, TOF, SFR, SFL, PON, NON, BLK, CLR
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