Yaskawa MP900 Series Motion Programming Manual - Manual (Page 40)

Overview of Motion Programs
1.2.1 Programming Format
1 -26
J Handling of Program Numbers
Program numbers are used to identify programs. There are two types of program number: Main
program numbers and subroutine numbers. From 1 to 256 numbers can be attached to the pro-
grams or subroutines.
Main Program
MPMjjj
Program number: 1 to 256
Subroutine
MPSjjj
Program number: 1 to 256
Figure 1.4 Motion Program File Names
1. The same program number cannot be designated for both a main program and a subroutine.
2. A total of up to 256 main programs and subroutines can be created.
J Coding Comments
Comments can be coded in programs for use in motion program maintenance. The following two
coding methods are provided:
D The comment statement is enclosed in double quotation marks.
“ Character string ”
ZRN [axis1] 0 [axis2] 0 [axis3] 0; “Zero point return of all axes”
MVS [axis1] 100.0 [axis2] 200. [axis3] 300.0; “3-axis linear interpolation”
D If the comment is not enclosed in double quotation marks, all the remaining characters on
the same line as the double quotation marks (until Enter is pressed) will be treated as a com-
ment.
“ Character string [Enter]
“After zero point return for all axes, move to queue position by linear interpolation
ZRN [axis1] 0 [axis2] 0 [axis3] 0;
MVS [axis1] 100.0 [axis2] 200. [axis3] 300.0;
1
INFO
A
EXAMPLE
"
A EXAMPLE "