Yaskawa MotionSuite Series Machine Controller Programming Manual do Utilizador descarregar pdf (Página 12)

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

1-3

1.1.2 Basic Program Structure

a. Motion programs are written in a text format motion language. Up to 256 of

these motion programs can be created separately.

b. Motion programs are of the following two types: Main programs (MPM

"""

)

which can be called out from DWG.H, and sub-programs (MPS

"""

) which

can be called out from the main program.

Important Point

Numbers of the MPM and MPS programs cannot be duplicated.

Calculations are Flexible and Dependable

• Integer arithmetic operations

• Real number arithmetic operations

• Logical operations

• Trigonometric operations

• Exponents

• Logarithms

•etc.

Example of Operation Commands:

MW81D=AB01H*SIN(100)+50;

MW5=BCD (1W0001);

IF CF476 <> DF897;

IF MW0001 > 7;

IF 0B0 == 1;

0B0 = (IB0 | IB2 | IB3) & 1B1;

MW6 = SQT (MW809);

Conditional Branching Commands

IF <Conditional>

•

• Processed when conditions established

•

ELSE

•

• Processed when conditions not established

•

IEND

Repeat Commands

WHILE <Conditional>

•

• Processing

•

WEND

Control Commands

• Conditional branching commands (IF/ELSE)

• Repeat commands (WHILE)

• Timer commands (TIM)

• Subroutines (MSEE)

• Parallel execution commands (PFORK)

• Selection execution commands (SFORK)

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