Yaskawa MP900 Series Motion Programming Manual - Manual (Page 43)

1.2 Programming Methods
1 -29
Designation Method for Coordinate Words Meaning
Auxiliary Data for
Circular or Helical
Interpolation R Circular interpolation radius value (fixed to
incremental value)
Interpolation
U
V Center point coordinates for circular inter-
polation (Axis X)
Center point coordinates for circular inter-
polation (Axis Y)
External
Positioning Travel
Distance D Distance travelled from input of external
signal (fixed to incremental value)
1. The “long” data type is used when a travel distance or coordinate value is designated as a variable.
Example: ML0100, DL0300
2. With a decimal point value, include a 0 for each place below the decimal point.
Example: 300.000… If the number of digits after the decimal point = 3, store 300000 in the variable.
In I and O registers, the servo parameter area cannot be used as variables for travel distances and coordi-
nate values.
J
Number of Simultaneously Controlled Axes
The number of axes that can be controlled simultaneously from the motion programs is as shown
in Table 1.13.
Table 1.13 Number of Simultaneously Controlled Axes
Command Number of Simultaneously Controlled Axes
POSITIONING (MOV) Up to 14 axes *
LINEAR INTERPOLATION (MVS) Up to 14 axes *
CIRCULAR INTERPOLATION
(MCW/MCC) Two axes
HELICAL INTERPOLATION
(MCW/MCC) Three axes
SKIP (SKP) Up to 14 axes *
EXTERNAL POSITIONING (EXM) One axis
SET TIME POSITIONING (MVT) Up to 14 axes *
* Number of axes with simultaneous control for the MP930.
The number of simultaneously controlled axes differs depending on the model of the Machine Control-
ler. Refer to 1.1.2 Function Performance for details.
1
IMPORTANT