Yaskawa MP940 User Manual

Page 406

Motion Control

11.1.2 Motion Control Methods

11-4

Com-
mands

Axis move commands: 6 types

MOV, MVS, ZRN, SKP, MVT, EXM

Basic control commands: 6 types

ABS, INC, POS, PLN, MVM, PLD

Speed and acceleration/deceleration commands: 7 types

ACC, DCC, SCC, VEL, IAC, IDC, IFP, FMX

High-level control commands: 4 types

PFN, INP, SNG, UFC

Control commands: 10 types

MSEE, TIM, IOW, END, RET, EOX, IF ELSE IEND,
WHILE WEND, PFORK JOINTO PJOINT,
SFORK JOINTO SJOINT

Math and sequence control commands: 32 types

=, +, - ,

∗, /, MOD, | , ^, &, !, ( ), S{ }, R{ }, SIN, COS, TAN, ASN, ACS,

ATN, SQRT, BIN, BCD, = =, < >, >, <, >=, <=, SFR, SFL, BLK, CLR