Yaskawa MP900 Series Motion Programming Manual - Manual (Page 55)

Motion Commands
2.1.1 POSITIONING (MOV)
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2.1 Axis Move Commands
This section describes the methods of designating axis move commands and provides some program-
ming examples.
2.1.1 POSITIONING (MOV)
Caution
D The path of movement with the POSITIONING (MOV) command is not always a straight line.
When programming, be sure to check the path to make sure that there are no tools or other ob-
stacles in the way of the workpiece.
Failure to carry out this check may result in damage to equipment, serious personal injury, or even death.
J Overview
The POSITIONING (MOV) command independently moves each axis from the current position
to the end position at rapid traverse speed (the speed set in each axis parameter). Up to 14 axes*
can be moved simultaneously. Any axis not specified in the command will not be moved.
The path of movement with the MOV command is different from the linear travel described in
2.1.2 LINEAR INTERPOLATION (MVS).
* Number of axes with simultaneous control for the MP930.
The number of simultaneously controlled axes differs depending on the model of the Ma-
chine Controller. Refer to 1.1.2 Function Performance for details.
J Description
The MOV command is designated as follows:
MOV [axis1] − [axis2] − ⋅⋅⋅ ;
Reference position
The following illustration shows the path of movement with the MOV command.
Each axis is moved
independently at
rapid traverse speed. End position
Positioning
Current position
axis 1
axis 2
axis 3
axis 2
axis 1
axis 3
Figure 2.1 Path of Movement with MOV
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