Yaskawa MP900 Series Motion Programming Manual - Manual (Page 26)

Overview of Motion Programs
1.1.2 Function Performance
1 -12
Item Specification
Coordinate System Rectangular coordinates
Zero Point Return Thirteen types
• DEC1 + Phase C
• Phase C
• DEC1 + ZERO
• ZERO
• C Pulse
• POT + C Pulse
• POT
• HOME LS + C Pulse
• HOME LS
• NOT + C Pulse
• NOT
• Input + C Pulse
• Input
Programs Language Special motion language, ladder language
Number of
Tasks Up to 16 axes can be executed in parallel.
Number of
Programs Up to 256
Program
Capacity 1200 Kbytes
Command Words Axis Move Commands: 12 commands
MOV, MVS, MCW, MCC, ZRN, SKP, MVT, EXM, VCS,
VCR, TCS, TCR
Basic Control Commands: 6 commands
ABS. INC, POS, PLN, MVM, PLD
Speed and Acceleration/Deceleration Commands: 8 commands
ACC, DCC, SCC, VEL, IAC, IDC, IFP, FMX
High-level Control Commands: 4 commands
PFN, INP, SNGD, SNGE, UFC
Control Commands: 11 commands
MSEE, TIM, IOW, END, RET, EOX, IF ELSE IEND,
WHILE WEND, PFORK JOINTO, PJOINT, SFORK,
JOINTO, SJOINT
Math and Sequence Control Commands: 32 commands
=, +, −, *, /, MOD, |, ^, &, !, (), S{}, R{}, SIN, COS, TAN,
ASN, ACS, ATN, SQRT, BIN, BCD, ==, <>, >, <, >=, <=,
SFR, SFL, BLK, CLR