Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 179)

8 Command Reference
8.2.8 Linear Interpolation with Skip Function (SKP)
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8.2.8 Linear Interpolation with Skip Function (SKP)
(1) Overview
The Linear Interpolation with Skip Function command (SKP) is an extended command of the Linear Interpola-
tion command (MVS). When the skip input signal is turned ON during axis movement by a SKP command, the
moving axis is decelerated to a stop and the remaining travel distance is cancelled.
A use of a SKP command enables the programming of motion control that can respond to external conditions.
The skip signal is input to the control signal for the MSEE command or the control register of M-EXECUTOR.
Fig. 8.40 Axis Movement by SKP Command
The moving axis decelerates to a stop when the skip input signal is turned ON. The SKP command, however,
remains in effect until the positioning completion signal is turned ON.
(2) Format
Motion Programs Sequence Programs
Applicable Not applicable
Speed (V)
Time (t)
Cancelled moving amount
Skip input signal
(Control signal bit 8 or 9)
Linear interpolation
Reference position for
SKP command
The position where the axis is stopped by
skip input signal (ON)
Skip input signal 1 (SS1) Bit 8 of control signal
Skip input signal 2 (SS2) Bit 9 of control signal
Skip Input Signal Skip Input Signal Selection
IMPORTANT
...
Item Unit Usable Data
Reference position Reference unit
Interpolation feed speed Reference unit/min
Directly designated value
Double interger type register (Indirect designation)
Skip input signal selection −
Directly designated number 1 or 2
Double integer type register (Indirect designation)
SKP [Logical axis name 1] Reference position [Logical axis name 2] Reference position [Logical axis name 3] Reference position
F Interporation feed speed SS Skip input signal selection ;
Note: The interpolation feed speed can be omitted.