Yaskawa MP920 User's Manual Design - Manual (Page 534)

A.2 Motion Commands, Ladder Instructions, and Standard System Functions
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A.2.2 Motion Command List
The motion commands are listed in the following table.
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 INTER-
POLATION 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 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 desig-
nation, multiple circles can be desig-
nated with T
−. (T− can also be omitted.)
COUNTER-
CLOCKWISE
CIRCULAR
INTERPOLATION
MCW
MCC CLOCKWISE
HELICAL INTER-
POLATION 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 circu-
lar interpolation plane. Speed F will be
the circular interpolation tangential
speed.
With the center point coordinate desig-
nation, the number of turns can be desig-
nated with T
−. (T− can also be omitted.)
COUNTER-
CLOCKWISE
HELICAL INTER-
POLATION
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 POSITIONING
WITH TIME
SPECIFIED 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
command is executed.
Basic Control
Commands ABS ABSOLUTE
MODE ABS; Treats all subsequent coordinate words
as absolute values.
INC INCREMENTAL
MODE INC; Treats all subsequent coordinate words
as incremental values.
POS CHANGE CUR-
RENT POSITION POS [axis1] − [axis2] − ⋅⋅⋅; Changes the current values to the desired
coordinate values for up to 16 axes
simultaneously. Subsequent move com-
mands use this new coordinate system.