Yaskawa MotionSuite Series Machine Controller Programming Manual do Utilizador descarregar pdf (Página 86)

MotionSuite™ Series Machine Controller Programming Manual Chapter 3: Advanced Programming Methods

3-1

3 Advanced Programming

This chapter explains how to program motion control commands including

advanced control commands, and speed/acceleration commands.

3.1 Advanced Control Commands ............................................................................ 3-2

3.1.1 In-Position Check (PFN) Command .......................................................... 3-2

3.1.2 Second In-Position Check (INP) Command .............................................. 3-5

3.1.3 Ignore Single Block (SNG) Command ......................................................3-7

3.1.4 User Function Call-out (UFC) Command ................................................. 3-8

3.1.5 I/O Variable Wait (IOW) Command ....................................................... 3-17

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

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Yaskawa MotionSuite Series Machine Controller Programming Manual do Utilizador Página 86