Yaskawa MP920 User's Manual Design User Manual
Page 54
2 MP920 Specifications and System Configuration
2.1.3 Function Lists
2-28
High-Level
Control
Commands
PFN
IN-POSITION
CHECK
MVS [axis1]
− [axis2] − ···
PFN;
or
PFN [axis1] [axis2] ;
Proceeds to the next block after the posi-
tioning commanded by the interpolation
travel command in the same block or a
previous block enters the positioning
completion range (parameter setting).
INP
SECOND IN-POSI-
TION CHECK
INP [axis1]
− [axis2] − ···;
Proceeds to the next block after the posi-
tioning subsequently commanded by the
interpolation travel command with PFN
enters the second positioning completion
range.
SNG
IGNORE SINGLE
BLOCK SIGNAL
SNG MVS [axis1] 100.
[axis2] 200. F1000;
A block with this command will be exe-
cuted continuously, even in single-block
operation mode.
SNG cannot be designated on its own.
UFC
USER FUNCTION
CALL
UFC Function_name
Input_data, Input_address,
Output_data;
Calls a function created by the user.
Sequence
Commands
=
SUBSTITUTE
(Result) = (Arithmetic ex-
pression)
Substitutes operation results. Performs
calculations from left to right (with no
order of priority).
+
ADD
MW
− = MW− + MW−;
MW
− = MW− + 123456;
MW
− = 123456 + MW−;
Performs integer and real number addi-
tion. Calculates combinations of integers
and real numbers as real numbers.
-
SUBTRACT
MW
− = MW− − MW−;
MW
− = MW− − 123456;
MW
− = 123456 − MW−;
Performs integer and real number sub-
traction. Calculates combinations of inte-
gers and real numbers as real numbers.
∗
MULTIPLY
MW
− = MW− ∗ MW−;
MW
− = MW− ∗ 123456;
MW
− = 123456 ∗ MW−;
Performs integer and real number multi-
plication. Calculates combinations of
integers and real numbers as real num-
bers.
/
DIVIDE
MW
− = MW−/MW−;
MW
− = MW−/123456;
MW
− = 123456/MW−;
Performs integer and real number divi-
sion. Calculates combinations of integers
and real numbers as real numbers.
MOD
REMAINDER
MW
− = MW−/MW−;
MW
− = MOD;
When programmed in the next block after
a division, MOD stores the remainder in
the designated register.
(cont’d)
Classification
Command
Name
Programming Format
Function/Meaning