Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 325)

Appendices
A.2 Axis Move Commands
A-4
ZRN
Zero Point
Return ZRN [Logical axis name1]0
[Logical axis name 2]0 [Logical axis name 3] ;
Returns each axis to its zero point. −
SKP
Linear
Interpola-
tion with
Skip
Function
SKP [Logical axis name 1] Reference position
[Logical axis name 2] Reference position [Logical
axis name 3] Reference position F Interpolation
feed speed SS Skip input signal ; If the SKIP signal turns ON during a
linear interpolation operation, skips
the remaining movement and pro-
ceeds to the next block.
−
MVT
Set Time
Positioning
MVT [Logical axis name 1] Reference position
[Logical axis name 2] Reference position [Logical
axis name 3] Reference position T Positioning
time (ms) ;
Executes positioning by clamping the
feed speed so that travel can be com-
pleted at the designated time.
−
EXM
External
Positioning
EXM [Logical axis name 1] Reference position D
Movement amount from the time the external posi-
tioning signal is input ;
When an external positioning signal
is input while external positioning is
being executed, only the travel dis-
tance designated by "D
−" is posi-
tioned with an incremental value, and
then the next command is executed.
−
(cont’d)
Com-
mand
Name Programming Format Description
Motion P
rograms
Sequ
ence Progra
m
s