Yaskawa MP900 Series Motion Programming Manual - Manual (Page 47)

1.2 Programming Methods
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Variables
The variables that can be used in motion programs are listed in Table 1.16. Use them as re-
quired.
Table 1.16 Types of Variable and Notation Method
Classification Variable
Type
Data Type
Type
Bit Word Long Floating
Point
Global Variables S Registers SB SW SL SF
M Registers MB MW ML MF
I Registers IB IW IL IF
O Registers OB OW OL OF
C Registers CB CW CL CF
Local Variables D Registers DB DW DL DF
Bit position: Valid only with bit data
Variable address
Data type: B, W, L, F
Variable name: S, M, I, O, C, D
M B 1 2 3 4 5 F
MB001001 = 1;
MW00100 = 1234;
ML00100 = 12345678;
MF00100 = 1234.5678
J
Math Operations and Functions
Global variables, local variables, and constants can be used to perform ordinary math operations
in combination with operators and functions, and the results can be substituted in variables. The
commands listed in the following table are provided for the math operations and functions.
Classification Command Name Programming Format
Arithmetic
Operations = SUBSTITUTE MW− =MW−;
Operations
+ ADD MW− =MW− +MW−;
− SUBTRACT MW− =MW− −MW−;
* MULTIPLY MW− =MW− *MW−;
/ DIVIDE MW− =MW− /MW−;
MOD REMAINDER MW− =MOD;
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A EXAMPLE "