Yaskawa MotionSuite Series Machine Controller Programming Bedienungsanleitung PDF herunterladen (Seite 35)

MotionSuite™ Series Machine Controller Programming Manual Chapter 1: Motion Programmming Outline

1-26

1.2.4 Motion Command List

A list of the motion commands is given in the table below:

Type Command Name Command Format Function/Meaning

Axis Motion

Commands

MOV Positioning MOV [axis1]— [axis2]— ... ;

(Up to 14 axes may be designated)

Positioning can be simulta-

neously executed by fast feed for

up to 14 axes.

MVS Linear

Interpola-

tion

MVS [axis1]— [axis2]— ... F—;

(Up to 14 axes may be designated)

Linear motion can be simulta-

neously executed at interpolation

feed speed F for up to 14 axes.

MCW

MCC

Circular

Interpola-

tion

(clockwise)

(counter-

clockwise)

MCW [axis1]— [axis2]— R— F—;

MCC [axis1]— [axis2]—U—V—

T—F—;

Simultaneously executes interpo-

lation for 2 axes at tangential

speed F according to a circle of

radius R (or a designated mid-

point coordinate). It is possible

to designate multiple circles in

T— during mid-point coordinate

designation (T— may also be

omitted).

MCW

MCC

Helical

Interpola-

tion

(clockwise)

(counter-

clockwise)

MCW [axis1]— [axis2]— U—V—

[axis3]—T—F—;

MCC [axis1]— [axis2]—R—

[axis3]—F—;

Simultaneously moves 3 axes by

combining circular interpolation

and linear interpolation outside

the circular interpolation plane.

It is possible to designate multi-

ple circles in T— during mid-

point coordinate designation

(T— may also be omitted).

ZRN Zero Point

Return

ZRN [axis1]— [axis2]— ...;

(Up to 14 axes may be designated)

Returns each axis to the zero

point after [mid-position] posi-

tioning. Zero return is executed

immediately without mid-posi-

tioning after the first time power

is turned ON.

SKP Skip Com-

mand

SKP[axis1]— [axis2]— ...SS—;

(Up to 14 axes may be designated)

When the skip signal is turned

ON during linear interpolation,

the remaining motion is skipped,

and the system proceeds to the

next block. The machine records

the position at which the skip sig-

nal went ON.

MVT Time

Designation

Positioning

MVT [axis1]— [axis2]— ...T—;

(Up to 14 axes may be designated)

Executes positioning after clamp-

ing feed speed so that positioning

is completed in a designated

time.

EXM External

Positioning

EXM[axis] - A~B (one axis only) Moves to designated position (A)

if signal is not input.

Moves the incremental amount

(B) from when the signal is input.

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