Yaskawa MP900 Series Motion Programming Manual - Manual (Page 198)

Motion Command List
A - 2
A.1 Motion Command List
The motion commands are listed in the following table.
Classification Command Name Programming Format Function/Meaning
Axis Move
Commands MOV POSITIONING MOV [axis1] − [axis2] − ⋅⋅⋅;
(Up to 14 axes can be desig-
nated.) Executes positioning at rapid traverse
speed for up to 14 axes* simultaneously.
MVS LINEAR INTER-
POLATION MVS [axis1] − [axis2] − ⋅⋅⋅F−;
(Up to 14 axes can be desig-
nated.) Executes linear travel at interpolation feed
speed F for up to 14 axes* simultaneously.
MCW
MCC
CLOCKWISE CIR-
CULAR INTER-
POLATION
COUNTERCLOCK-
WISE CIRCULAR
INTERPOLATION
MCW [axis1] − [axis2] − R−
F−; MCC [axis1] − [axis2] −
U− V− T− F−; Executes circular interpolation at tangen-
tial speed F for two axes simultaneously
following radius R (or designated center
point coordinates).
With the center point coordinate designa-
tion, multiple circles can be designated
with T−. (T− can also be omitted.)
MCW
MCC
CLOCKWISE HE-
LICAL INTER-
POLATION
COUNTERCLOCK-
WISE HELICAL IN-
TERPOLATION
MCW [axis1] − [axis2]
−U−V− [axis3] −T− F−;
MCC [axis1] − [axis2]
−R−[axis3] −F−; Moves three axes simultaneously in a
combination of circular interpolation and
linear interpolation outside of the circular
interpolation plane. Speed F will be the
circular interpolation tangential speed.
With the center point coordinate designa-
tion, the number of turns can be desig-
nated with T−. (T− can also be omitted.)
ZRN ZERO POINT RE-
TURN ZRN [axis1] − [axis2] − ⋅⋅⋅;
(Up to 14 axes can be desig-
nated.) Returns each axis to its zero point.
SKP SKIP SKP [axis1]− [axis2]− ⋅⋅⋅ SS−;
(Up to 14 axes can be desig-
nated.) If the SKIP signal turns ON during a lin-
ear interpolation operation, skips the re-
maining movement and proceeds to the
next block.
MVT SET TIME POSI-
TIONING MVT [axis1]− [axis2]− ⋅⋅⋅ T−;
(Up to 14 axes can be desig-
nated.) Executes positioning by clamping the feed
speed so that travel can be completed at
the designated time.
EXM EXTERNAL POSI-
TIONING EXM [axis1]− D−; When an external positioning signal is in-
put while external positioning is being
executed, only the travel distance desig-
nated by “D−” is positioned with an incre-
mental value, and then the next command
is executed.
* Number of axes with simultaneous control for the MP930.
The number of simultaneously controlled axes differs depending on the model of the Machine Controller. Refer to
1.1.2 Function Performance for details.
A