Yaskawa MP900 Series Motion Programming Manual - Manual (Page 200)

Motion Command List
A - 4
Classification Command Name Programming Format Function/Meaning
High-Level
Control
Commands PFN IN-POSITION
CHECK MVS [axis1] − [axis2] − ⋅⋅⋅
PFN;
or
PFN [axis1] [axis2] ; Proceeds to the next block after the posi-
tioning commanded by the interpolation
travel command in the same block or a
previous block enters the positioning
completion range (parameter setting).
INP SECOND IN-POSI-
TION CHECK INP [axis1] − [axis2] − ⋅⋅⋅; Proceeds to the next block after the posi-
tioning subsequently commanded by the
interpolation travel command with PFN
enters the second positioning completion
range.
SNG IGNORE SINGLE
BLOCK SIGNAL SNG MVS [axis1] 100.
[axis2] 200. F1000; A block with this command will be exe-
cuted continuously, even in single-block
operation mode.
SNG cannot be designated on its own.
UFC USER FUNCTION
CALL UFC Function_name
Input_data, Input_address,
Output_data; Calls a function created by the user.
Sequence
Commands = SUBSTITUTE (Result) = (Arithmetic expres-
sion) Substitutes operation results. Performs
calculations from left to right (with no or-
der of priority).
+ ADD MW− = MW− + MW−;
MW− = MW− + 123456;
MW− = 123456 + MW−; Performs integer and real number addi-
tion. Calculates combinations of integers
and real numbers as real numbers.
− SUBTRACT MW− = MW− − MW−;
MW− = MW− − 123456;
MW− = 123456 − MW−; Performs integer and real number subtrac-
tion. Calculates combinations of integers
and real numbers as real numbers.
* MULTIPLY MW− = MW− * MW−;
MW− = MW− * 123456;
MW− = 123456 * MW−; Performs integer and real number multi-
plication. Calculates combinations of inte-
gers and real numbers as real numbers.
/ DIVIDE MW− = MW−/MW−;
MW− = MW−/123456;
MW− = 123456/MW−; Performs integer and real number divi-
sion. Calculates combinations of integers
and real numbers as real numbers.
MOD REMAINDER MW− = MW−/MW−;
MW− = MOD; When programmed in the next block after
a division, MOD stores the remainder in
the designated register.
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