Yaskawa MP920 User's Manual Design - Manual (Page 52)

2 MP920 Specifications and System Configuration
2.1.3 Function Lists
2-26
„ Motion Command List
The following table lists the motion commands.
Classification Command Name Programming Format Function/Meaning
Axis Move
Commands MOV POSITIONING MOV [axis1] − [axis2] − ···;
(Up to 16 axes can be desig-
nated.)
Executes positioning at rapid traverse
speed for up to 16 axes simultaneously.
In programming, replace “
−” with the
numerical data for each axis.
MVS LINEAR
INTERPOLATION MVS [axis1] − [axis2] − ···F−;
(Up to 16 axes can be desig-
nated.)
Executes linear travel at interpolation
feed speed F for up to 16 axes simulta-
neously.
MCW
MCC CLOCKWISE
CIRCULAR
INTERPOLATION
COUNTERCLOCK-
WISE CIRCULAR
INTERPOLATION
MCW [axis1] − [axis2] − R−
F −; MCC [axis1] − [axis2] −
U − V− T− F−;
Executes circular interpolation at tangen-
tial speed F for two axes simultaneously
following radius R (or designated center
point coordinates).
With the center point coordinate designa-
tion, multiple circles can be designated
with T
−. (T− can also be omitted.)
MCW
MCC CLOCKWISE
HELICAL
INTERPOLATION
COUNTERCLOCK-
WISE HELICAL
INTERPOLATION
MCW [axis1] − [axis2] −U−
V − [axis3] −T− F−;
MCC [axis1] − [axis2] −R−
[axis3] −F-;
Moves three axes simultaneously in a
combination of circular interpolation and
linear interpolation outside of the circular
interpolation plane. Speed F will be the
circular interpolation tangential speed.
With the center point coordinate designa-
tion, the number of turns can be desig-
nated with T
−. (T− can also be omitted.)
ZRN ZERO POINT
RETURN ZRN [axis1] − [axis2] − ···;
(Up to 16 axes can be desig-
nated.)
Returns each axis to its zero point.
SKP SKIP SKP [axis1] − [axis2]- ··· SS−;
(Up to 16 axes can be desig-
nated.)
If the SKIP signal turns ON during a lin-
ear interpolation operation, skips the
remaining movement and proceeds to the
next block.
MVT SET TIME
POSITIONING MVT [axis1] − [axis2] − ··· T−;
(Up to 16 axes can be desig-
nated.)
Executes positioning by clamping the
feed speed so that travel can be com-
pleted at the designated time.
EXM EXTERNAL
POSITIONING EXM [axis1] − D−; When an external positioning signal is
input while external positioning is being
executed, only the travel distance desig-
nated by “D
−” is positioned with an
incremental value, and then the next com-
mand is executed.