Yaskawa MP900 Series Motion Programming Manual - Manual (Page 41)

1.2 Programming Methods
1 -27
J Creating a One-block Command
1. Create a one-block command according to the programming format. A typical one-block
example is shown in the following illustration.
Label
Destination number of parallel execution
and selective execution commands
Motion command
Designates the type of motion
operation or the type of control.
Coordinate words
Axis coordinate value or
amount of incremental
movement of axis
Interpolation feed speed
End of block
LABEL: MVS [X1] 20.0 [Y1] 30.0 [Z1] 40.0 F300000 ; “ Comment”
(SP) (SP)
2. At least one space [SP] must be inserted between the motion command and the coordinate
words.
3. There is no limit on the number of characters in one line of one block. However, it is recom-
mended that the number of characters be limited to the range that can be displayed on the
screen, so that the program can be easily seen.
4. Insert CR or LF after a semi-colon at the end of a block, and press Enter.
5. The label serves as the destination number of the PARALLEL FORK command (PFORK)
and the SELECTIVE FORK command (SFORK).
J
Labels
Labels must be provided as the destination numbers of the PARALLEL FORK command
(PFORK) and the SELECTIVE FORK command (SFORK). Insert a colon [:] at the end of a
character string containing from one to eight alphanumeric characters or symbols to create a la-
bel.
The following table shows the characters that can be used in labels.
Character Numbers 0 to 9
Letters A to Z, a to z
Symbols $, %, ¥, @, ¯, _
PFORK LAB1 LAB2;
LAB1: ZRN [axis1] 0 [axis2] 0 [axis3] 0;
JOINTO LAB3;
LAB2: MVS [axis1] 100.0 [axis2] 200. [axis3] 300.0;
JOINTO LAB3;
LAB3: PJOINT;
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A EXAMPLE "