Yaskawa MEMOCON GL120 - Manual (Page 307)

4.7 Motion Modules
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Items Specifications
14) Operation Mode Any of the following modes can be selected with a sequence
command from the CPU Module.
a) Edit mode:
Used to load programs from the programming device to the
MC20 Module to save the programs.
b) Automatic mode:
Used to enable the MC20 Module to operate automatically
using any one of the programs registered with the MC20
Module.
c) Manual mode:
Used to enable the MC20 Module to perform JOG, STEP, or
HOME RETURN.
d) On-line edit mode:
Used to write programs by teaching the MC20 Module the
current value block by block from the programming device.
15) Programming Method Interpreter method in dedicated motion language
16) Motion Commands POSITIONING (MOV), LINEAR INTERPOLATION (MVS),
CIRCULAR INTERPOLATION (MCW, MCC), HELICAL
INTERPOLATION (MCW, MCC), HOME RETURN (ZRN),
ABSOLUTE PROGRAMMING MODE (ABS), INCREMENTAL
PROGRAMMING MODE (INC), CURRENT POSITION SET
(POS), MOVE ON MACHINE COORDINATES (MVM), DWELL
TIME (TIM), PROGRAM STOP (STP), PROGRAM END (END),
IN-POSITION CHECK (PFN), SECOND IN-POSITION RANGE
SETTING (INP), SET EXTERNAL OUTPUT (SET), PASS
NOTCH SIGNAL OUTPUT (PNT), IGNORE SINGLE-BLOCK
SIGNAL (SNG), I/O WAIT (IOW), SUB-PROGRAM CALL
(GSB), RETURN (RET), PCON SIGNAL OUTPUT (PCN)*,
VOLTAGE OUTPUT (VCC)*, EXTERNAL POSITIONING
(EXM)*, RATIO OPERATION (PGS)*, RATIO OPERATION
CANCEL (PGR)*, TRAILING SYNCHRONOUS OPERATION
(TSS)*, TRAILING SYNCHRONOUS OPERATION CANCEL
(TSR)*, ARITHMETIC COMMANDS (=,+,−,
*
,/ ), BRANCH
CONTROL COMMANDS (IF....GO TO...), REPEAT CONTROL
COMMANDS (WHILE...DO...), and VARIABLES (# nnn,# nnnn,
Hn)
* New step-2 commands.
17) Position Command Using
Point Table
MOV #E...;
Enables the MC20 Module to decide the position designated by
#E in the space made with the four-axis (X, Y, Z and S) data
stored by the MC20 Module. A maximum of 500 points can be
stored.
18) Pallet Command PMV P...C...;
Enables the MC20 Module to decide the position on the grid
number designated by C on pallet P.
Max. pallet no.: 199.
Max. grid no.: 999 × 999.
19) SKIP SKP X...Y...Z...S...F...;
When an external SKIP signal is ON while the above is enabling
the MC20 Module to execute axis travelling, the MC20 Module
will stop the axis travelling, cancel the remaining travel amount
of the current block, and go to the next block.
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