Yaskawa MP900 Series Motion Programming Manual Manual do Utilizador descarregar pdf (Página 38)

Overview of Motion Programs

1.2.1 Programming Format

1 -24

J Programming Format

The variable-length programming format is as shown in Table 1.10.

Table 1.10 Variable-Length Programming Format

Item

Programming Format

Program Number

MPMjjj jjj = 1 to 256

Labels

Up to eight characters

Motion Commands

Three letters (Some commands have more or less than three letters.)

Coordinate Words

[abcd]

123.456

AB C

A: Axis name

B: Sign (+, −) designation possible

C: Coordinate value (For details, see 1.2.2 Controlled Axes.)

Interpolation Feed

Speeds

F3000000

Changes according to the setting of the number of digits after the deci-

mal point (fixed parameter).

Number of digits after the decimal point = 3: 3000.000 mm/min

Number of digits after the decimal point = 5: 30.00000 mm/min

Dwell Times

TIM T1000 Unit: 10 msec (no decimal point)

Subroutine Numbers

MPSjjj jjj = 1 to 256

P Designations

P100; Interpolation feed speed ratio setting: 1 to 100

End of Block

;

J Leading Zeroes

Leading zeroes can be omitted from numeric values following characters, including program

numbers and register (variable) numbers.

[X1] 00123 ⇒ [X1] 123

[X1] MW00010 ⇒ [X1] MW10

MPS002 ⇒ MPS2

J Signs

Of the numeric value signs, positive (+) signs can be omitted, but negative (−) signs cannot.

[X1] +123 ⇒ [X1] 123

[X1] −123 ⇒ [X1] −123

A decimal point cannot be used in an interpolation feed speed (Fxxxx) references.

F30000.000 cannot be designated. Designate F30000000.

(Number of digits after the decimal point = 3)

EXAMPLE

INFO

1 2 ... 33 34 35 36 37 38 39 40 41 42 43 ... 53 54

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