Yaskawa MP940 - Manual (Page 31)

Specifications and Functions
2.3.3 Motion Command Descriptions
2-8
2.3.3 Motion Command Descriptions
The following table describes the motion commands.
Table 2.5 Motion Command Descriptions.
∗ “ － ” in MOV[axis1] － •••; denotes the numeric data for axis 1.
Classifica-
tion
Command Name Programming Format Function/Meaning
Axis Move
Com-
mands MOV POSITIONING MOV [axis1] － ; * Executes positioning at rapid traverse speed.
MVS LINEAR INTER-
POLATION MVS [axis1] － F － ; Executes linear travel at interpolation feed
speed F.
ZRN ZERO POINT
RETURN ZRN [axis1] － ; Returns axis to its zero point.
SKP SKIP SKP [axis1] － SS － F － ; If the SKIP signal turns ON during a linear
interpolation operation, skips the remaining
movement and proceeds to the next block.
EXM EXTERNAL PO-
SITIONING EXM［axis1］－ D － ; When an external positioning signal is input
while external positioning is being executed,
only the travel distance designated by “D-" is
positioned with an incremental value, and
then the next command is executed.
Basic
Control
Com-
mands ABS ABSOLUTE
MODE ABS; Treats all subsequent coordinate words as
absolute values.
INC INCREMENTAL
MODE INC; Treats all subsequent coordinate words as
incremental values.
POS CURRENT POSI-
TION SET POS [axis1] － ; Changes the current values to the desired
coordinate values. Subsequent move com-
mands use this new coordinate system.
MVM MOVE ON MA-
CHINE COORDI-
NATE MVM MOV [axis1] － ;
or
MVM MVS [axis1] － ; Goes to the target position on the machine
coordinate system. The coordinate system
set automatically on completion of the zero
point return is called a machine coordinate
system. This coordinate system is not
affected by the POS command.
PLD PROGRAM CUR-
RENT POSI-
TION UPDATE PLD [axis1] ; Updates the program current position for
axes shifted by manual intervention.