Yaskawa MotionSuite Series Machine Controller Programming Uživatelský manuál stáhnout pdf (Strana 42)

MotionSuite™ Series Machine Controller Programming Manual Chapter 2: Motion Commands

2-1

2 Motion Commands

Programing of axial motion commands and control commands are explained in

this chapter.

2.1 Axial Motion Commands .................................................................................... 2-2

2.1.1 Positioning (MOV) .................................................................................... 2-2

2.1.2 Linear Interpolation (MVS) ....................................................................... 2-7

2.1.3 Circular Interpolation (MCW, MCC) ...................................................... 2-11

2.1.4 Helical Interpolation (MCW, MCC) ........................................................ 2-19

2.1.5 Zero-point Return (ZRN) ........................................................................ 2-22

2.1.6 Skip Command (SKP) ............................................................................. 2-28

2.1.7 Time Designation Positioning (MVT) ..................................................... 2-29

2.1.8 External Positioning (EXM) .................................................................... 2-31

2.2 Control Command ............................................................................................. 2-32

2.2.1 Absolute (ABS) Mode ............................................................................. 2-32

2.2.2 Incremental (INC) Mode ......................................................................... 2-34

2.2.3 Current Value Change (POS) .................................................................. 2-36

2.2.4 Coordinate Plane Designation (PLN) ...................................................... 2-39

2.2.5 Machine Coordinate Command (MVM) ................................................. 2-40

2.2.6 Program Current Position Update (PLD) ................................................. 2-42

2.2.7 Timed Wait (TIM) ................................................................................... 2-43

2.2.8 Program End (END) ................................................................................ 2-44

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Yaskawa MotionSuite Series Machine Controller Programming Uživatelský manuál Strana 42