Document Outline

• Front Cover
• Safety Information
• Visual Aids
• Contents
• Overview
• Using This Manual
• Safety Precautions
• Warranty
• 1 Overview of Motion Programs
  • 1.1 Motion Programming
    • 1.1.1 Motion Programming Capabilities
    • 1.1.2 Function Performance
    • 1.1.3 Starting Motion Programs
    • 1.1.4 Parallel Program Execution
    • 1.1.5 Editing Programs
  • 1.2 Programming Methods
    • 1.2.1 Programming Format
    • 1.2.2 Controlled Axes
    • 1.2.3 Feed Speeds
    • 1.2.4 Motion Commands
• 2 Motion Commands
  • 2.1 Axis Move Commands
    • 2.1.1 POSITIONING (MOV)
    • 2.1.2 LINEAR INTERPOLATION (MVS)
    • 2.1.3 CLOCKWISE/COUNTERCLOCKWISE CIRCULAR INTERPOLATION (MCW, MCC)
    • 2.1.4 CLOCKWISE/COUNTERCLOCKWISE HELICAL INTERPOLATION (MCW, MCC)
    • 2.1.5 ZERO POINT RETURN (ZRN)
    • 2.1.6 SKIP FUNCTION (SKP)
    • 2.1.7 SET TIME POSITIONING (MVT)
    • 2.1.8 EXTERNAL POSITIONING (EXM)
  • 2.2 Control Commands
    • 2.2.1 ABSOLUTE MODE (ABS)
    • 2.2.2 INCREMENTAL MODE (INC)
    • 2.2.3 CURRENT POSITION SET (POS)
    • 2.2.4 COORDINATE PLANE SETTING (PLN)
    • 2.2.5 MOVE ON MACHINE COORDINATES (MVM)
    • 2.2.6 PROGRAM CURRENT POSITION UPDATE (PLD)
    • 2.2.7 DWELL TIME (TIM)
    • 2.2.8 PROGRAM END (END)
• 3 Advanced Programming
  • 3.1 High-Level Control Commands
    • 3.1.1 SECOND IN-POSITION CHECK (PFN)
    • 3.1.2 SET SECOND IN-POSITION RANGE (INP)
    • 3.1.3 IGNORE SINGLE-BLOCK SIGNAL (SNG), SINGLE-BLOCK SIGNAL DISABLED/ENABLED (SNGD/SNGE)
    • 3.1.4 USER FUNCTION CALL (UFC)
    • 3.1.5 I/O VARIABLE WAIT (IOW)
    • 3.1.6 SUBROUTINE CALL (MSEE)
    • 3.1.7 SUBROUTINE RETURN (RET)
    • 3.1.8 ONE SCAN WAIT (EOX)
    • 3.1.9 Branching Commands: IF...ELSE...IEND
    • 3.1.10 Repeat Commands: WHILE...WEND
    • 3.1.11 Parallel Execution Commands (PFORK, JOINTO, PJOINT)
    • 3.1.12 Selective Execution Commands (SFORK, JOINTO, SJOINT)
  • 3.2 Speed and Acceleration/Deceleration Commands
    • 3.2.1 ACCELERATION TIME CHANGE (ACC)
    • 3.2.2 DECELERATION TIME CHANGE (DCC)
    • 3.2.3 S - CURVE TIME CONSTANT CHANGE (SCC)
    • 3.2.4 SET SPEED (VEL)
    • 3.2.5 INTERPOLATION FEED SPEED RATIO SETTING (IFP)
    • 3.2.6 MAXIMUM INTERPOLATION FEED SPEED (FMX)
    • 3.2.7 INTERPOLATION ACCELERATION TIME CHANGE (IAC)
    • 3.2.8 INTERPOLATION DECELERATION TIME CHANGE (IDC)
• 4 Sequence Commands
  • 4.1 Overview of Sequence Commands
    • 4.1.1 Math Commands
    • 4.1.2 Combinations of Math Operations
    • 4.1.3 Combinations of Logic Operations
  • 4.2 Arithmetic Operations
    • 4.2.1 SUBSTITUTE (=)
    • 4.2.2 ADD (+)
    • 4.2.3 SUBTRACT (-)
    • 4.2.4 MULTIPLY (*)
    • 4.2.5 DIVIDE (/)
    • 4.2.6 REMAINDER (MOD)
  • 4.3 Logic Operations
    • 4.3.1 OR ( | )
    • 4.3.2 AND (&)
    • 4.3.3 XOR (∧)
    • 4.3.4 NOT ( ! )
  • 4.4 Data Comparisons
    • 4.4.1 Data Comparison Commands (= =, < >, >, <, > =, < =)
  • 4.5 Data Operations
    • 4.5.1 BIT RIGHT SHIFT (SFR)
    • 4.5.2 BIT LEFT SHIFT (SFL)
    • 4.5.3 BLOCK MOVE (BLK)
    • 4.5.4 CLEAR (CLR)
    • 4.5.5 ASCII CONVERSION 1 (ASCII)
  • 4.6 Basic Functions
    • 4.6.1 SINE (SIN)
    • 4.6.2 COSINE (COS)
    • 4.6.3 TANGENT (TAN)
    • 4.6.4 ARC SINE (ASN)
    • 4.6.5 ARC COSINE (ACS)
    • 4.6.6 ARC TANGENT (ATN)
    • 4.6.7 SQUARE ROOT (SQT)
    • 4.6.8 BCD-TO-BINARY (BIN)
    • 4.6.9 BINARY-TO-BCD (BCD)
    • 4.6.10 SET BIT (S{ })
    • 4.6.11 RESET BIT (R{ })
• 5 Variables (Registers)
  • 5.1 Overview
    • 5.1.1 Overview of Variables
    • 5.1.2 Global Variables and Local Variables
  • 5.2 Using Variables
    • 5.2.1 System Variables (S Registers)
    • 5.2.2 Data Variables (M Registers)
    • 5.2.3 Input Variables (I Registers)
    • 5.2.4 Output Variables (O Registers)
    • 5.2.5 C Variables (C Registers)
    • 5.2.6 D Variables (D Registers)
• 6 MP2300S/MP2400 Exclusive-use Commands
  • 6.1 MP2300S/MP2400 Exclusive-use Commands
    • 6.1.1 RISING PULSE (PON)
    • 6.1.2 FALLING PULSE (NON)
    • 6.1.3 ON-DELAY TIMER (TON): Counting unit: 0.01 second
    • 6.1.4 OFF-DELAY TIMER (TOF): Counting unit: 0.01 second
    • 6.1.5 USER FUNCTION CALL (FUNC)
    • 6.1.6 SEQUENCE SUBROUTINE CALL (SSEE)
• A Motion Command List
  • A.1 Motion Command List
• B Motion Program Alarm List
  • B.1 Motion Program Alarm Storage Location
  • B.2 Motion Program Alarm List
• Revision History
• Back Cover