Yaskawa MP900 Series Motion Programming Manual - Manual (Page 28)

Overview of Motion Programs
1.1.3 Starting Motion Programs
1 -14
Item Specification
Command Words Axis Move Commands: 12 commands
MOV, MVS, MCW, MCC, ZNR, SKP, MVT, EXM, VCS,
VCR, TCS, TCR
Basic Control Commands: 6 commands
ABS, INC, POS, PLN, MVM, PLD
Speed and Acceleration/Deceleration Commands: 8 commands
ACC, DCC, SCC, VEL, LAC, IDC, IFP, FMX
High-level Control Commands: 4 commands
PFN, INP, SNG, UFC
Control Commands: 11 commands
MSEE, TIM, JOW, END, RET, BOX, IF ELSE IEND,
WHILE WEND, PFORK JOINTO PJOINT, SFORK JOIN-
TO SJOINT, GOTO
Math and Sequence Control Commands: 32 commands
=, +, −, *, /, MOD, |, ^, &, !, (), S{}, R{}, SIN, COS, TAN,
ASN, ACS, ATN, SQRT, BIN, BCD, ==, <>, >, <, >=, <=,
SFR, SFL, BLK, CLR
Table Data Operation Commands: 2 commands
TBLBR, TBLBW
Character String Operation Commands: 3 commands
ASCII, BINASC, ASCBIN
1.1.3 Starting Motion Programs
Motion programming is a textual motion programming language. Motion programming can be
used to create 256 programs separate from the ladder drawings.
Two types of motion program are provided: Main programs (MPMjjj) that can be called
from DWG.H, and subroutines (MPSjjj) that can be called from the main programs.
Table 1.7 Types of Motion Program
Classification Designation Method Feature Number of
Programs
Main programs MPMjjj
1 to 256
Can be called from
DWG.H. A total of up to 256
main programs and
Subroutines MPSjjj
1 to 256
Can be called from the
main programs.
subroutines can be
created.
The same MPM or MPS number cannot be used more than once.
1
IMPORTANT