Yaskawa SMC–4000 - Manual (Page 287)

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SMC–4000 User Manual
Command Summary - Coordinated Motion Sequence
Operand Summary - Coordinated Motion Sequence
When AV is used as an operand, _AV returns the distance traveled along the sequence.
The operands _VPX and _VPY can be used to return the coordinates of the last point specified along the
path.
Command Description
VM m,n,p Specifies the axes for planar motion where m and n represent the planar axes and p
is the tangent axis.
VP m,n Return coordinate of last point, where m=X,Y,Z or W.
VS n Specify vector speed or feedrate of sequence.
VA n Specify vector acceleration along the sequence.
VD n Specify vector deceleration along the sequence.
VR n Specify vector speed ratio
BGS Begin motion sequence
CS Clear sequence.
AV n Trippoint for After Relative Vector distance, n.
AMS Holds execution of next command until Motion Sequence is complete.
TN m,n Tangent scale and offset
ES m,n Ellipse scale factor
VT S curve smoothing constant for coordinated moves
Operand Description
_vpm The absolute coordinate of the axes at the last intersection along the sequence.
_AV Distance traveled.
_LM Number of available spaces for linear and circular segments in the SMC–4000
sequence buffer. Zero means buffer is full. 512 means buffer is empty.
_CS Segment counter - Number of the segment in the sequence, starting at zero.
_VE Vector length of coordinated move sequence.