Yaskawa MotionSuite Series Machine Controller Programming Uživatelský manuál Strana 18

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MotionSuite™ Series Machine Controller Programming Manual Chapter 1: Motion Programmming Outline
1-9
1.2 Motion Programming Method
This section deals with the basic rules for creating motion programs. Read this section
thoroughly prior to program execution.
1.2.1 Input Format
! Motion Program Sample
Motion programs are created in variable-length block format.
Program Sample
Block Number Program
00001 MPM001"sample” ...Program number and comment
00002 FMX=T1000000; ...Interpolation feed high-speed setting
00003 IAC=T100; ...Interpolation feed acceleration time setting
00004 IDC=T100; ...Interpolation feed deceleration time setting
00005 VEL [X1]10000 [Y1]2000 [Z1]3000; ...Feed speed setting
00006 INC; ...Incremental mode command
00007 MOV [X1]100.[Y1]150.[Z1]200.; ...Fast feed
00008 MVS [X1]100.[Y1]50.F500000; ...Linear interpolation
00009 IOW IW0011=1; ...
00010 MW0100=(MW0110*100+50)/100; ...
00011 MW0200=(MW0210*100+50)/100; ...
00012 ABS; ...
00013 MOV [X1]MW0100 [Y1]MW0200; ...
00014 POS [X1]0 [Y1]0 ...
00015 PFORK LA01, LA02, LA03, LA04 ...Parallel operation command
00016 LA01: INC; ...Label
00017 MOV [X1]1000.; ...
00018 JOINTO LA05; ...
00019 LA02: INC; ...
00020 MOV [X1]2000.; ...
00021 JOINTO LA05; ...
00022 LA03: ABS; ...
00023 MV S[Z1]1500 F50000; ...
00024 MW1000=12345; ...
00025 JOINTO LA05; ...
00026 LA04: MW1100=1000; ...
00027 IOW IB101==1; ...
00028 JOINTO LA05; ...
00029 LA05:PJOINT ...Closes parallel operation command
00030 END; ...Closes program
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