Yaskawa MP940 Reference Manual - Manual (Page 400)

MotionSuite™ MP940 Machine Controller Reference Manual Outline of Motion Control
11-3
Using the dedicated motion language, complex motions within programs
are easily created. All systems execute command termination checks. The
following motion commands are provided as standard in the MP9xx
series.
Examples of Motion Control Applications
Application Example 1 - Labeler
Command
Language Axial Motion Commands: 8
MOV, MVS, MCW, MCC, ZRN, SKP, MVT, EXM
Basic Control Commands: 6
ABS, INC, POS, PLN, MVM, PLD
Speed and Accel/Decel Commands: 7
ACC, DCC, SCC, VEL, IAC, IDC, IFP, FMX
High-level Control Commands: 4
PFN, INP, SNG, UFC
Control Commands: 10
MSEE, TIM, IOW, END, RET, EOX, IF ELSE IEND
, WHILE WEND, PFORK JOINTO PJOINT
, SFORK JOINTO SJOINT
Operations/Sequence Control Commands: 32
=, +, -, *, /, MOD, |, ^, &, !, (), S{}, R{}, SIN, COS, TAN, ASN, ACS, ATN,
SQRT, BIN, BCD, ==, <>, >, <, >=, <=, SFR, SFL, BLK, CLR
MP940
Sensor 1
Sensor 2
Winding Roll
Servo Motor
Encoder
Registeration Input 2
Registeration Input 1
External Encoder Input
Motor Encoder
Motor Power