Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 38)

2 Specifications
2-6
2.3 List of Motion Language Commands
Type Command Name Type Commands Name
Axis Set
Com
mands
ABS Absolute Mode
Arithmetic Operatio
n
= Substitute
INC Incremental Mode + Add
ACC Acceleration Time Change - Subtract
DCC Deceleration Time Change * Multiply
SCC S-curve Time Constant Change / Divide
VEL Set Speed MOD Remainder
FMX Maximum Interpolation Feed Speed
Lo
gical
Ope
rat
ion
| OR (Logical OR)
IFP Interpolation Feed Speed Ratio Setting & AND (Logical AND)
IAC Interpolation Acceleration Time Change ^
XOR (Logical exclusive
OR)
IDC Interpolation Deceleration Time Change ! NOT (Inversion)
Axis Mo
ve
C
omma
nds
MOV Positioning
Dat
a
C
omp
arison
== Match
MVS Linear Interpolation <> Mismatch
MCW Clockwise Circular/Helical Interpolation > Greater than
MCC
Counterclockwise Circular/Helical
Interpolation
< Less than
ZRN Zero Point Return >= Greater than or equal to
SKP Linear Interpolation with SKIP Function <= Less than or equal to
MVT Set Time Positioning
Dat
a Op
eration
SFR Right Shift
EXM External Positioning SFL Left Shift
Co
ntro
l Command
s POS Current Position Set BLK Block Move
MVM Move On Machine Coordinates CLR Clear
PLN Coordinate Plane Setting ASCII ASCII Conversion 1
PLD Program Current Position Update
Basic F
unction
s
SIN Sine
PFN In-Position Check COS Cosine
INP Set In-Position Check Width TAN Tangent
Pr
ogram Control Commands
IF ELSE IEND Branch ASN Arc Sine
WHILE WEND Repeat ACS Arc Cosine
PFORK,
JOINTO,
PJOINT
Parallel Execution
ATN Arc Tangent
SQT Square Root
BIN BCD to Binary
SFORK,
JOINTO,
SJOINT
Selective Execution
BCD Binary to BCD
S{ } Set Bit
R{ } Reset Bit
MSEE Subroutine (motion subprogram) Call PON Rising Pulse
SSEE Subroutine (sequence subprogram) Call NON Falling Pulse
UFC User Function Call from Motion Program
TON On-Delay Timer
TOF Off-Delay Timer
FUNC User Function Call from Sequence Program
C L
ang
uage
Control Comman
ds
CTSK
C Language Task
Control
END Program End
RET Subprogram End
TIM Dwell Time
CFUNC
C Language Function
Call IOW I/O Variable Wait
EOX One Scan Wait
SNGD/SNGE Disable/Enable Single Block