Yaskawa MP900 Series Motion Programming Manual - Manual (Page 37)

1.2 Programming Methods
1 -23
1.2 Programming Methods
This section describes the basic rules for creating motion programs. Be sure to read this section
through before starting to write a program.
1.2.1 Programming Format
J Sample Motion Programs
Table 1.9 Sample Program
Line No. Program Remarks
00001
00002
00003
00004
00005
00006
00007
00008
00009
00010
00011
00012
00013
00014
00015
00016
00017
00018
00019
00020
00021
00022
00023
00024
00025
00026
00027
00028
00029
00030 MPM001 “sample”
FMX T1000000;
IAC T100;
IDC T100;
VEL [X1] 10000 [Y1] 2000 [Z1] 3000;
INC;
MOV [X1] 100. [Y1] 150. [Z1] 200.;
MVS [X1] 100. [Y1] 50. F500000;
IOW IW0011 = = 1;
MW0100 = (MW0110*100+50)/100;
MW0200 = (MW0210*100+50)/100;
ABS;
MOV [X1] MW0100 [Y1] MW0200;
POS [X1] 0 [Y1] 0
PFORK LA01 LA02 LA03 LA04;
LA01: INC;
MOV [X1] 1000.;
JOINTO LA05;
LA02: INC;
MOV [Y1] 2000.;
JOINTO LA05;
LA03: ABS;
MVS [Z1] 1500 F50000;
MW1000 = 12345;
JOINTO LA05;
LA04: MW1100 = 1000;
IOW IB101 = = 1;
JOINTO LA05;
LA05: PJOINT
END;
Program number and comment
Maximum interpolation feed speed setting
Interpolation feed acceleration time setting
Interpolation feed deceleration time setting
Feed speed setting
Incremental mode setting
Positioning
Linear interpolation
PARALLEL FORK command
Label
End of parallel execution
Program end
1