Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 324)

App
A Motion Language Commands
A-3
A.2 Axis Move Commands
Com-
mand
Name Programming Format Description
Mo
tion Programs
Seq
uen
ce
Prog
rams
MOV Positioning
MOV [Logical axis name 1] Reference position
[Logical axis name 2] Reference position [Logical
axis name 3] Reference position ;
Executes positioning at the specified
positioning speed for up to 16 axes.
−
MVS
Linear
Interpola-
tion
MVS [Logical axis name 1] Reference position
[Logical axis name 2] Reference position [Logical
axis name 3] Reference position F Interpolation
feed speed ;
Executes linear movement at the
interpolation feed speed F for up to
16 axes.
−
MCW
Clockwise
Circular
Interpola-
tion
Center
position
designation
MCW [Logical axis name 1] End po-
sition [Logical axis name 2] End po-
sition U Center point position V
Center point position T Number of
turns F Interpolation speed ;
Executes circular interpolation at tan-
gential speed F for two axes simulta-
neously following radius R (or
designated center point coordinates).
With the center point coordinate des-
ignation, multiple circles can be des-
ignated with T
−. (T− can also be
omitted.)
−
Radius
designation
MCW [Logical axis name 1] End po-
sition [Logical axis name 2] End po-
sition R Radius F Interpolation feed
speed ;
MCC
Counter-
clockwise
Circular
Interpola-
tion
Center
position
designation
MCC [Logical axis name 1] End po-
sition [Logical axis name 2] End po-
sition U Center point position V
Center point position T Number of
turns F Interpolation feed speed ;
Radius
designation
MCC [Logical axis name 1] End po-
sition [Logical axis name 2] End po-
sition R Radius F Interpolation feed
speed ;
MCW
Clockwise
Helical
Interpola-
tion
Center
position
designation
MCW [Logical axis name 1] End po-
sition [Logical axis name 2] End po-
sition U Center point position V
Center point position [Logical axis
name 3] Linear interpolation end po-
sition T Number of turns F Interpola-
tion feed speed ;
Moves three axes simultaneously in a
combination of circular interpolation
and linear interpolation outside the
circular interpolation plane. Speed F
will be the circular interpolation tan-
gential speed.
With the center point coordinate des-
ignation, the number of turns can be
designated with T
−. (T− can also be
omitted.)
−
Radius
designation
MCW [Logical axis name 1] End po-
sition [Logical axis name 2] End po-
sition R Radius [Logical axis name 3]
Linear interpolation end position F
Interpolation feed speed ;
MCC
Counter-
clockwise
Helical
Interpola-
tion
Center
position
designation
MCC [Logical axis name 1] End po-
sition [Logical axis name 2] End po-
sition U Center point position V
Center point position [Logical axis
name 3] Linear interpolation end po-
sition T Number of turns F Interpola-
tion feed speed ;
Radius
designation
MCC [Logical axis name 1] End po-
sition [Logical axis name 2] End po-
sition R Radius [Logical axis name 3]
Linear interpolation end position F
Interpolation feed speed ;
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