Yaskawa MP920 User's Manual Design - Manual (Page 54)

2 MP920 Specifications and System Configuration
2.1.3 Function Lists
2-28
High-Level
Control
Commands PFN IN-POSITION
CHECK MVS [axis1] − [axis2] − ···
PFN;
or
PFN [axis1] [axis2] ;
Proceeds to the next block after the posi-
tioning commanded by the interpolation
travel command in the same block or a
previous block enters the positioning
completion range (parameter setting).
INP SECOND IN-POSI-
TION CHECK INP [axis1] − [axis2] − ···; Proceeds to the next block after the posi-
tioning subsequently commanded by the
interpolation travel command with PFN
enters the second positioning completion
range.
SNG IGNORE SINGLE
BLOCK SIGNAL SNG MVS [axis1] 100.
[axis2] 200. F1000; A block with this command will be exe-
cuted continuously, even in single-block
operation mode.
SNG cannot be designated on its own.
UFC USER FUNCTION
CALL UFC Function_name
Input_data, Input_address,
Output_data; Calls a function created by the user.
Sequence
Commands = SUBSTITUTE (Result) = (Arithmetic ex-
pression) Substitutes operation results. Performs
calculations from left to right (with no
order of priority).
+ ADD MW − = MW− + MW−;
MW − = MW− + 123456;
MW − = 123456 + MW−;
Performs integer and real number addi-
tion. Calculates combinations of integers
and real numbers as real numbers.
- SUBTRACT MW − = MW− − MW−;
MW − = MW− − 123456;
MW − = 123456 − MW−;
Performs integer and real number sub-
traction. Calculates combinations of inte-
gers and real numbers as real numbers.
∗ MULTIPLY MW − = MW− ∗ MW−;
MW − = MW− ∗ 123456;
MW − = 123456 ∗ MW−;
Performs integer and real number multi-
plication. Calculates combinations of
integers and real numbers as real num-
bers.
/ DIVIDE MW − = MW−/MW−;
MW − = MW−/123456;
MW − = 123456/MW−;
Performs integer and real number divi-
sion. Calculates combinations of integers
and real numbers as real numbers.
MOD REMAINDER MW − = MW−/MW−;
MW − = MOD;
When programmed in the next block after
a division, MOD stores the remainder in
the designated register.
(cont’d)
Classification Command Name Programming Format Function/Meaning