Yaskawa MP920 User's Manual Design - Manual (Page 119)

4.1 Overview of Motion Control
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The use of the special motion language enables complex operations to be easily programmed.
The special motion commands shown in the following table are provided as standard in the
MP9†† Series.
Commands Axis move commands: 8 types
MOV, MVS, MCW, MCC, ZRN, SKP, MVT, EXM
Basic control commands: 6 types
ABS, INC, POS, PLN, MVM, PLD
Speed and acceleration/deceleration commands: 7 types
ACC, SCC, VEL, IAC, IDC, IFP, FMX
High-level control commands: 4 types
PFN, INP, SNG, UFC
Control commands: 10 types
MSEE, TIM, IOW, END, RET, EOX, IF ELSE IEND, WHILE WEND,
PFORK JOINTO PJOINT, SFORK JOINTO SJOINT
Math and sequence control commands: 32 types
=. +. -, *, /, MOD, |, ^, &, !, ( ), S{ }, R { }, SIN, COS, TAN, ASN, ACS,
ATN, SQRT, BIN, BCD, = =, < >, >, <, >=, <=, SFR, SFL, BLK, CLR