Yaskawa MP940 Reference Manual - Manual (Page 18)

Specifications and Functions MotionSuite™ MP940 Machine Controller Reference Manual
2-8
Motion Command List
Command Language Types Commands Function
Axis Motion Commands MOV Positioning
MVS Linear Interpolation
ZRN Zero-point return
SKP Skip command
EXM External Positioning
Basic Control Commands ABS Absolute mode
INC Incremental mode
POS Current Variation
MVM Machine Coordinate Designation
PLD Program Current Position Update
Speed/Acceleration Commands ACC Acceleration Time Change
SCC S-curve Parameter Change
VEL Feed Speed Change
IAC Interpolation Acceleration Time Change
IDC Interpolation Deceleration Time Change
IFP Interpolation Feed Speed Ratio Setting
FMX Interpolation Feed High-speed Setting
Upper-level Control Commands PFN In-position Check
INP 2nd in-position check
SNG Ignore Single Block
UFC User Function Call-out
Control Commands MSEE Sub-program Call-out
TIM Timed Wait
IOW I/O Variable Wait
END Program Close
RET Sub-program Close
EOX 1 scan WAIT command
IF
ELSE
IEND Branching Commands
WHITE
WEND Repetition Commands
SFORK
JOINTO
SJOINT Selection Execution Commands