Yaskawa MP900 Series Motion Programming Manual - Manual (Page 38)

Overview of Motion Programs
1.2.1 Programming Format
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J Programming Format
The variable-length programming format is as shown in Table 1.10.
Table 1.10 Variable-Length Programming Format
Item Programming Format
Program Number MPMjjj jjj = 1 to 256
Labels Up to eight characters
Motion Commands Three letters (Some commands have more or less than three letters.)
Coordinate Words [abcd] ± 123.456
A B C
A: Axis name
B: Sign (+, −) designation possible
C: Coordinate value (For details, see 1.2.2 Controlled Axes.)
Interpolation Feed
Speeds F3000000
Changes according to the setting of the number of digits after the deci-
mal point (fixed parameter).
Number of digits after the decimal point = 3: 3000.000 mm/min
Number of digits after the decimal point = 5: 30.00000 mm/min
Dwell Times TIM T1000 Unit: 10 msec (no decimal point)
Subroutine Numbers MPSjjj jjj = 1 to 256
P Designations P100; Interpolation feed speed ratio setting: 1 to 100
End of Block ;
J Leading Zeroes
Leading zeroes can be omitted from numeric values following characters, including program
numbers and register (variable) numbers.
[X1] 00123 ⇒ [X1] 123
[X1] MW00010 ⇒ [X1] MW10
MPS002 ⇒ MPS2
J Signs
Of the numeric value signs, positive (+) signs can be omitted, but negative (−) signs cannot.
[X1] +123 ⇒ [X1] 123
[X1] −123 ⇒ [X1] −123
A decimal point cannot be used in an interpolation feed speed (Fxxxx) references.
F30000.000 cannot be designated. Designate F30000000.
(Number of digits after the decimal point = 3)
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EXAMPLE
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