3 advanced programming, Advanced programming – Yaskawa MP900 Series Motion Programming Manual User Manual
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Advanced Programming
This chapter describes the high-level control commands, and speed and ac-
celeration/deceleration commands, used for motion control, and describes
the programming methods used.
3.1 High-Level Control Commands
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3.1.1 SECOND IN-POSITION CHECK (PFN)
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3.1.2 SET SECOND IN-POSITION RANGE (INP)
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3.1.3 IGNORE SINGLE-BLOCK SIGNAL (SNG),
SINGLE-BLOCK SIGNAL DISABLED/ENABLED
(SNGD/SNGE)
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3.1.4 USER FUNCTION CALL (UFC)
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3.1.5 I/O VARIABLE WAIT (IOW)
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3.1.6 SUBROUTINE CALL (MSEE)
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3.1.7 SUBROUTINE RETURN (RET)
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3.1.8 ONE SCAN WAIT (EOX)
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3.1.9 Branching Commands: IF...ELSE...IEND
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3.1.10 Repeat Commands: WHILE...WEND
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3.1.11 Parallel Execution Commands
(PFORK, JOINTO, PJOINT)
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3.1.12 Selective Execution Commands
(SFORK, JOINTO, SJOINT)
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3.2 Speed and Acceleration/Deceleration
Commands
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3.2.1 ACCELERATION TIME CHANGE (ACC)
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3.2.2 DECELERATION TIME CHANGE (DCC)
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3.2.3 S-CURVE TIME CONSTANT CHANGE (SCC)
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3.2.4 SET SPEED (VEL)
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3.2.5 INTERPOLATION FEED SPEED RATIO SETTING
(IFP)
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3.2.6 MAXIMUM INTERPOLATION FEED SPEED
(FMX)
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3.2.7 INTERPOLATION ACCELERATION TIME CHANGE
(IAC)
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3.2.8 INTERPOLATION DECELERATION TIME CHANGE
(IDC)
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