Yaskawa MP900 Series Motion Programming Manual - Manual (Page 54)

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Motion Commands
This chapter describes programming axis move commands and control
commands, which are two types of motion commands.
2.1 Axis Move Commands 2 -2 . . . . . . . . . . . . . . . . .
2.1.1 POSITIONING (MOV) 2 -2 . . . . . . . . . . . . . . . . . . . . . . . .
2.1.2 LINEAR INTERPOLATION (MVS) 2 -5 . . . . . . . . . . . . .
2.1.3 CLOCKWISE/COUNTERCLOCKWISE CIRCULAR
INTERPOLATION (MCW, MCC) 2 -9 . . . . . . . . . . . . .
2.1.4 CLOCKWISE/COUNTERCLOCKWISE HELICAL
INTERPOLATION (MCW, MCC) 2 -15 . . . . . . . . . . . . .
2.1.5 ZERO POINT RETURN (ZRN) 2 -18 . . . . . . . . . . . . . . . .
2.1.6 SKIP FUNCTION (SKP) 2 -23 . . . . . . . . . . . . . . . . . . . . . .
2.1.7 SET TIME POSITIONING (MVT) 2 -24 . . . . . . . . . . . . . .
2.1.8 EXTERNAL POSITIONING (EXM) 2 -27 . . . . . . . . . . . . .
2.2 Control Commands 2 -28 . . . . . . . . . . . . . . . . . . . .
2.2.1 ABSOLUTE MODE (ABS) 2 -28 . . . . . . . . . . . . . . . . . . . .
2.2.2 INCREMENTAL MODE (INC) 2 -30 . . . . . . . . . . . . . . . . .
2.2.3 CURRENT POSITION SET (POS) 2 -31 . . . . . . . . . . . . .
2.2.4 COORDINATE PLANE SETTING (PLN) 2 -33 . . . . . . . .
2.2.5 MOVE ON MACHINE COORDINATES (MVM) 2 -34 . . .
2.2.6 PROGRAM CURRENT POSITION UPDATE
(PLD) 2 -35 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.7 DWELL TIME (TIM) 2 -36 . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.8 PROGRAM END (END) 2 -37 . . . . . . . . . . . . . . . . . . . . . .
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