Yaskawa MotionSuite Series Machine Controller Programming Manual do Utilizador descarregar pdf (Página 3)

MotionSuite™ Series Machine Controller Programming Manual Table of Contents/Preface

3.1.6 Sub-program Call-out (MSEE) Command .............................................. 3-18

3.1.7 Sub-program End (RET) Command ........................................................ 3-19

3.1.8 1-scan Wait (EOX) Command ................................................................. 3-20

3.1.9 Branch (IF ELSE IEND) Command ........................................................ 3-22

3.1.10 Repeat (WHILE WEND) Command ....................................................... 3-24

3.1.11 Parallel Execution (PFORK, JOINTO, PJOINT) Command .................. 3-26

3.1.12 Selective Execution (SFORK, JOINTO, SJOINT) Command ................ 3-31

3.2 Speed/Acceleration Commands ........................................................................ 3-34

3.2.1 Acceleration Time Change (ACC) Command .........................................3-34

3.2.2 S-Curve Time Constant Change (SCC) Command .................................3-36

3.2.3 Feed Speed Change (VEL) Command ..................................................... 3-38

3.2.4 Interpolation Feed Speed Ratio Setting (IFP) Command ........................ 3-40

3.2.5 Maximum Interpolation Feed Speed Setting (FMX) Command .............3-42

3.2.6 Interpolation Acceleration Time Change (IAC) Command .................... 3-44

3.2.7 Interpolation Deceleration Time Change (IDC) Command .................... 3-46

4 Sequence Commands ................................................................................................4-1

4.1 Sequence Command Outline .............................................................................. 3-2

4.1.1 Calculation Commands .............................................................................. 4-2

4.1.2 Arithmetic Calculation Combination ......................................................... 4-4

4.1.3 Logical Calculation Combination .............................................................. 4-5

4.2 Aritmetic Calculations......................................................................................... 4-6

4.2.1 Substitution (=) ......................................................................................... 4-6

4.2.2 Addition (+) ............................................................................................... 4-7

4.2.3 Subtraction (–) ........................................................................................... 4-8

4.2.4 Multiplication (*) ....................................................................................... 4-9

4.2.5 Division (/) ............................................................................................... 4-10

4.2.6 Remainder (MOD) ................................................................................... 4-11

4.3 Logical Calculations ..........................................................................................4-12

4.3.1 Logical OR (|) ..........................................................................................4-12

4.3.2 Logical AND (&) ..................................................................................... 4-13

4.3.3 Exclusive OR (^) ...................................................................................... 4-14

4.3.4 NOT (!) ....................................................................................................4-15

4.4 Value Comparisons............................................................................................4-16

4.4.1 Value Comparison Command (= =, < >, >, <, >=, <=) ...........................4-16

4.5 Data Operations ................................................................................................. 4-18

4.5.1 Bit Right-shift (SFR) Command .............................................................. 4-18

4.5.2 Bit Left-shift (SFL) Command ................................................................ 4-20

4.5.3 Block Transfer (BLK) .............................................................................. 4-22

4.5.4 Clear (CLR) ............................................................................................. 4-24

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Yaskawa MotionSuite Series Machine Controller Programming Manual do Utilizador Página 3