Yaskawa MP920 User's Manual Design - Manual (Page 369)

6.2 System Startup Procedure
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6
MPM001 Operation
Fig. 6.1 Move Operation Chart According to Program
Start
X, Y axis origin return
Axis moves by rapid traverse speed to reference point (100.0, 100.0).
Axis moves to (200.0, 200.0) by linear interpolation
One-circle operation at the center point (200.0, 300.0)
Axis moves by linear interpolation to reference point (100.0, 100.0).
End
A square is drawn in order of + X → +Y → -X → -Y by linear interrpolation
X
Y
100 (0,0) 200 300
100
200
8
5
1
2
3
4
6
7
300
400