Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 90)

7 Programming
7.1.1 Motion Program Structure
7-2
7.1 Motion Program Format
7.1.1 Motion Program Structure
A motion program contains a program number, arbitrary comment, program body, and END command. The pro-
cess executed by a motion program is coded in the program body. The motion program basic structure is shown
below.
One line of program number and comment can be omitted.
7.1.2 Block Format
One block is one process execution unit. The program body consists of one or more than one block. The format
of one block is shown below. The details of each item are described from the next page.
Program number and com-
Program body
INFO
LABEL: MVS [A1]20.0 [B1]30.0 [C1]40.0 F300000 ; " Comment "
(1) Label
(2) Motion language command
(3) Logical axis name
(5) Specific character
(6) End of block
(7) Comment
(4) Coordinate word
No. Items Description
(1) Label Indicates the destination of PFROK and SFORK command.
(2)
Motion language
command
Specifies a motion program command.
(3) Logical axis name Specifies a logical axis name set in the Group Definition window.
(4) Coordinate words
Specifies the axis coordinate value or the incremental travel amount
of axis.
(5) Specific character Specifies supplemental data for the motion command.
(6) End of block Specifies the end of a block.
(7) Comment Describes the program comment.