Yaskawa MP2000 Series: User's Manual for Motion Progr Manuel d'utilisateur

USER’S MANUALMachine Controller MP2000 Seriesfor Motion ProgrammingMANUAL NO. SIEP C880700 38C12345678910OverviewSpecificationsProgram Development Fl

xContentsAbout This Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iiiUsing

7 Programming7.2.4 Speed Reference7-127.2.4 Speed ReferenceThe unit for the speed coded in a motion program can be selected: Reference unit/s, 10n

7.3 Group Definition7-137Programming7.3 Group DefinitionAxes to be grouped together are defined in the Group Definition window.This section describe

7 Programming7-14 Axis No.Set an axis number for the axis used.The axis number can be checked in the detailed screen of the used motion module. Logic

7.4 Priority Levels of Operations7-157Programming7.4 Priority Levels of OperationsA priority level is assigned to each operator used in an operation

7 Programming7-16• Logical Operation Example Precautions on operations involving three or more itemsFor example, with the following operation,With

7.5 Commands and Execution Scans7-177Programming7.5 Commands and Execution Scans7.5.1 Command TypesThere are three motion language command types. T

7 Programming7.5.2 List of Command Types7-187.5.2 List of Command TypesThe following table lists the command types.Classification Command S Type M

7.6 Sequence Program Format7-197Programming7.6 Sequence Program FormatThe format of a sequence program is the same as that for a motion program.Howe

8-18Command Reference8Command ReferenceThis chapter describes the motion language commands.8.1 Axis Setting Commands - - - - - - - - - - - - - - - -

8 Command Reference 8-28.4 Program Control Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-878.4.1 Branching Commands (I

xi2 Specifications2.1 MP2000 Series Machine Controller Specifications - - - - - - - - - - - - - - - - - - - - - - 2-22.1.1 Applicable Machine Contr

8.1 Axis Setting Commands8-38Command Reference8.1 Axis Setting CommandsThis section describes the axis setting commands.8.1.1 Absolute Mode (ABS)(1

8 Command Reference8.1.1 Absolute Mode (ABS)8-4(2) Format(3) Programming ExampleAn ABS command programming example is given below.Fig. 8.2 ABS Comm

8.1 Axis Setting Commands8-58Command Reference(b) Finite-length Axis and Infinite-length AxisThe position reference value of a coordinate word for a

8 Command Reference8.1.1 Absolute Mode (ABS)8-6• When Selecting ABS Mode for an Infinite-length AxisSpecify the target position in the range betwee

8.1 Axis Setting Commands8-78Command Reference8.1.2 Incremental Mode (INC) (1) OverviewThe Incremental Mode (INC) command causes the coordinate word

8 Command Reference8.1.2 Incremental Mode (INC)8-8(2) Format(3) Programming ExampleAn INC command programming example is given below.Fig. 8.4 INC C

8.1 Axis Setting Commands8-98Command Reference(b) Finite-length Axis and Infinite-length AxisThe position reference value of a coordinate word for a

8 Command Reference8.1.2 Incremental Mode (INC)8-10• When Selecting INC Mode for Infinite-length AxisSpecify the relative movement amount for the p

8.1 Axis Setting Commands8-118Command Reference8.1.3 Acceleration Time Change (ACC)(1) OverviewThe Acceleration Time Change command (ACC) changes th

8 Command Reference8.1.3 Acceleration Time Change (ACC)8-12(2) Format(3) Setting Items for ACC CommandEither acceleration time (ms) or acceleration

xii5 Sequence Programs5.1 Sequence Program Types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-25.2 How to Ru

8.1 Axis Setting Commands8-138Command Referencec) Positioning speedThe speed for positioning related commands MOV, MVT, or EXM.Set the positioning sp

8 Command Reference8.1.3 Acceleration Time Change (ACC)8-14(4) Programming ExamplesACC command programming examples are shown below.• When bits 4

8.1 Axis Setting Commands8-158Command Reference• When bits 4 to 7 of OW03 (Acceleration/deceleration degree unit selection) are set to 0 (referen

8 Command Reference8.1.3 Acceleration Time Change (ACC)8-16(5) Supplemental Information on ACC Command(a) Related Motion ParametersACC changes the

8.1 Axis Setting Commands8-178Command Reference8.1.4 Deceleration Time Change (DCC)(1) OverviewThe Deceleration Time Change command (DCC) changes th

8 Command Reference8.1.4 Deceleration Time Change (DCC)8-18(2) Format(3) Setting Items for the DCC CommandEither deceleration time (ms) or decelerat

8.1 Axis Setting Commands8-198Command Referencec) Positioning speedThe speed for positioning related commands MOV, MVT, or EXM.Set the positioning sp

8 Command Reference8.1.4 Deceleration Time Change (DCC)8-20(4) Programming ExamplesDCC command programming examples are shown below.• When bits 4

8.1 Axis Setting Commands8-218Command Reference• When bits 4 to 7 (Acceleration/deceleration degree unit selection) of OW03 are set to 0 (referen

8 Command Reference8.1.4 Deceleration Time Change (DCC)8-22(5) Supplemental Information on DCC Command(a) Related Motion ParametersDCC changes the

xiii8 Command Reference8.1 Axis Setting Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-38.1.1 Absolute

8.1 Axis Setting Commands8-238Command Reference8.1.5 S-curve Time Constant Change (SCC)(1) OverviewThe S-curve Time Constant Change command (SCC) ch

8 Command Reference8.1.5 S-curve Time Constant Change (SCC)8-24(3) Setting Items for SCC CommandMotion ImageSpecify a numerical value or register fo

8.1 Axis Setting Commands8-258Command Reference(4) Programming ExamplesAn SCC command programming example is given below.The following example shows

8 Command Reference8.1.5 S-curve Time Constant Change (SCC)8-26(5) Supplemental Information on SCC Command(a) Related Motion ParametersSCC command c

8.1 Axis Setting Commands8-278Command Reference(b) Movement Path by Interpolation Command and S-Curve Acceleration/DecelerationThe S-curve accelerati

8 Command Reference8.1.5 S-curve Time Constant Change (SCC)8-28(c) Filter Type SelectionBefore enabling the S-curve acceleration/deceleration, set t

8.1 Axis Setting Commands8-298Command Reference8.1.6 Set Velocity (VEL)(1) OverviewThe Set Velocity command (VEL) changes the feed speed of each axi

8 Command Reference8.1.6 Set Velocity (VEL)8-30(3) Setting Items for VEL CommandMotion Imagea) Rated speedUse motion fixed parameter 34 (Rated motor

8.1 Axis Setting Commands8-318Command Reference(4) Programming ExamplesA VEL command programming example is shown below.This example shows execution

8 Command Reference8.1.6 Set Velocity (VEL)8-32(b) OverrideMotion setting parameter OW18 (Override) can be used to specify a percentage of positio

xiv8.4.14 Single-block Signal Disabled (SNGD)/Single-block Signal Enabled (SNGE) - - - - - - - - - - - 8-1168.5 Arithmetic Operations - - - - -

8.1 Axis Setting Commands8-338Command Reference(c) Motor Speed SpecificationsIn addition to the VEL command reference range, the motor rated speed an

8 Command Reference8.1.6 Set Velocity (VEL)8-34- Continued from the previous page -• Parameter Setting Example: When the Electronic Gear is Disabl

8.1 Axis Setting Commands8-358Command Reference8.1.7 Maximum Interpolation Feed Speed Setting (FMX)(1) OverviewThe Maximum Interpolation Feed Speed

8 Command Reference8.1.7 Maximum Interpolation Feed Speed Setting (FMX)8-36(3) Setting Items for FMX CommandMotion Image a) Max. feed speed for inte

8.1 Axis Setting Commands8-378Command Reference8.1.8 Interpolation Feed Speed Ratio Setting (IFP)(1) OverviewThe Interpolation Feed Speed Ratio Sett

8 Command Reference8.1.8 Interpolation Feed Speed Ratio Setting (IFP)8-38(2) Format IFP command cannot be coded in the same block used for an interp

8.1 Axis Setting Commands8-398Command Reference• When using an interpolation override• The interpolation feed speed can be specified by using eithe

8 Command Reference8.1.9 Interpolation Acceleration Time Change (IAC)8-408.1.9 Interpolation Acceleration Time Change (IAC)(1) OverviewThe Interpol

8.1 Axis Setting Commands8-418Command Reference(3) Setting Items for IAC CommandMotion Imagea) Interpolation acceleration timeSpecify a numerical val

8 Command Reference8.1.9 Interpolation Acceleration Time Change (IAC)8-42(5) Supplemental Information on IAC Command(a) Related Motion ParametersThe

xv9 Engineering Tool MPE7209.1 Motion Editor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-29.1.

8.1 Axis Setting Commands8-438Command Reference8.1.10 Interpolation Deceleration Time Change (IDC)(1) OverviewThe Interpolation Deceleration Time Ch

8 Command Reference8.1.10 Interpolation Deceleration Time Change (IDC)8-44(2) Format(3) Setting Items for IDC CommandMotion Imagea) Interpolation de

8.1 Axis Setting Commands8-458Command Reference(4) Programming ExamplesAn IDC command programming example is shown below.Fig. 8.23 Interpolation Dec

8 Command Reference8.2.1 Positioning (MOV)8-468.2 Axis Move CommandsThis chapter described axis move commands.8.2.1 Positioning (MOV)(1) OverviewT

8.2 Axis Move Commands8-478Command Reference(3) Setting Items for MOV CommandMotion Imagea) Moving amountThe moving amount of each axis differs depen

8 Command Reference8.2.1 Positioning (MOV)8-48(a) No acceleration/decelerationMovement with both the acceleration time and deceleration time set to

8.2 Axis Move Commands8-498Command Reference(4) Programming ExamplesA programming example for a MOV command in ABS mode is shown below.Fig. 8.26 MOV

8 Command Reference8.2.2 Linear Interpolation (MVS)8-508.2.2 Linear Interpolation (MVS)(1) OverviewThe Linear Interpolation command (MVS) moves eac

8.2 Axis Move Commands8-518Command Reference(3) Setting Items for MVS CommandMotion Imagea) Composite moving amountThe composite moving amount differ

8 Command Reference8.2.2 Linear Interpolation (MVS)8-52b) Interpolation feed speed (F command or IFP)Specify a numerical value or register following

xviAppendicesA Motion Language Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2A.1 Axis Setting Commands

8.2 Axis Move Commands8-538Command ReferenceThe interpolation override can be changed during axis movement.Fig. 8.28 Interpolation Override and Inte

8 Command Reference8.2.2 Linear Interpolation (MVS)8-54• Code a FMX command to specify the maximum feed speed for interpolation at the beginning of

8.2 Axis Move Commands8-558Command Reference8.2.3 Clockwise/Counterclockwise Circular Interpolation with Center Position Desig-nation (MCW, MCC)(1)

8 Command Reference8.2.3 Clockwise/Counterclockwise Circular Interpolation with Center Position Designation (MCW, MCC)8-56(2) Format(3) Setting Ite

8.2 Axis Move Commands8-578Command Reference• In ABS ModeThe center position and end position are treated as absolute positions.• In INC ModeThe ce

8 Command Reference8.2.3 Clockwise/Counterclockwise Circular Interpolation with Center Position Designation (MCW, MCC)8-58Special care must be taken

8.2 Axis Move Commands8-598Command Referencec) Interpolation feed speedFor circular interpolation (MCW, MCC), the specified interpolation feed speed

8 Command Reference8.2.3 Clockwise/Counterclockwise Circular Interpolation with Center Position Designation (MCW, MCC)8-60(4) Programming ExamplesA

8.2 Axis Move Commands8-618Command Reference8.2.4 Clockwise/Counterclockwise Circular Interpolation with Radius Designation (MCW, MCC)(1) OverviewTh

8 Command Reference8.2.4 Clockwise/Counterclockwise Circular Interpolation with Radius Designation (MCW, MCC)8-62(2) Format(3) Setting Items for MCW

1-11Overview1OverviewThis chapter introduces motion programs and describes their features for those who are unfamilier with them. 1.1 What is a Motion

8.2 Axis Move Commands8-638Command Reference(4) Programming ExamplesProgramming examples of the circular interpolation command (MCW, MCC) in ABS mode

8 Command Reference8.2.4 Clockwise/Counterclockwise Circular Interpolation with Radius Designation (MCW, MCC)8-64TurningDirectionArc Angle Programmi

8.2 Axis Move Commands8-658Command Reference8.2.5 Clockwise/Counterclockwise Helical Interpolation with Center Position Desig-nation (MCW, MCC)(1) O

8 Command Reference8.2.5 Clockwise/Counterclockwise Helical Interpolation with Center Position Designation (MCW, MCC)8-66(2) Format(3) Setting Items

8.2 Axis Move Commands8-678Command Reference(4) Programming ExamplesA programming example of a clockwise helical interpolation command (MCC) in ABS m

8 Command Reference8.2.6 Clockwise/Counterclockwise Helical Interpolation with Radius Designation (MCW, MCC)8-688.2.6 Clockwise/Counterclockwise He

8.2 Axis Move Commands8-698Command Reference(3) Setting Items for MCW and MCC CommandsMotion ImageThe designation methods of the radius and end posit

8 Command Reference8.2.7 Zero Point Return (ZRN)8-708.2.7 Zero Point Return (ZRN) (1) OverviewThe Zero Point Return (ZRN) command executes the zero

8.2 Axis Move Commands8-718Command Reference(3) Setting Items for ZRN Command(a) Zero Point Return MethodsUse motion setting parameter OW3C (Zero p

8 Command Reference8.2.8 Linear Interpolation with Skip Function (SKP)8-728.2.8 Linear Interpolation with Skip Function (SKP)(1) OverviewThe Linear

1 Overview 1-21.1 What is a Motion Program?The motion program is a program written in motion language, Yaskawa’s unique textual language.A motion p

8.2 Axis Move Commands8-738Command Reference(3) Programming ExamplesA programming example of a SKP command in ABS mode is shown below.Fig. 8.41 SKP

8 Command Reference8.2.9 Set Time Positioning (MVT)8-748.2.9 Set Time Positioning (MVT)(1) OverviewThe Set Time Positioning command (MVT) is an ext

8.2 Axis Move Commands8-758Command ReferenceThe positioning time reference range is between 1 and 2147483647 (ms).Inside the MP2000 Machine Controlle

8 Command Reference8.2.10 External Positioning (EXM)8-768.2.10 External Positioning (EXM)(1) OverviewThe External Positioning command (EXM) is an e

8.2 Axis Move Commands8-778Command Reference(3) Setting Items for EXM CommandMotion Imagea) Moving amount from when the external positioning signal i

8 Command Reference8.3.1 Current Position Set (POS)8-788.3 Axis Control CommandsThis section describes the axis control commands.8.3.1 Current Pos

8.3 Axis Control Commands8-798Command ReferenceThe following table shows the setting status of the machine coordinate system and the work coordinate

8 Command Reference8.3.2 Move On Machine Coordinates (MVM)8-808.3.2 Move On Machine Coordinates (MVM)(1) OverviewThe Move ON Machine Coordinates (M

8.3 Axis Control Commands8-818Command Reference8.3.3 Program Current Position Update (PLD)(1) OverviewThe Program Current Position Update command (P

8 Command Reference8.3.4 In-Position Check (PFN)8-828.3.4 In-Position Check (PFN)(1) OverviewThe In-Position Check command (PFN) verifies whether t

1.2 Motion Program Features1-31Overview1.2 Motion Program Features1.2.1 Execution MethodA motion program employs an execution method that differs f

8.3 Axis Control Commands8-838Command Reference(3) Programming ExamplesPFN command programming examples are shown below.(a) When coding a PFN command

8 Command Reference8.3.5 Set In-Position Range (INP)8-848.3.5 Set In-Position Range (INP)(1) OverviewThe Set In-Position Range command (INP) is use

8.3 Axis Control Commands8-858Command Reference(3) Programming ExamplesAn INP command programming example is shown below.EXAMPLEABS;MOV [A1]0 [B1]0;

8 Command Reference8.3.6 Coordinate Plane Setting (PLN)8-868.3.6 Coordinate Plane Setting (PLN)(1) OverviewThe Coordinate Plane Setting command (PL

8.4 Program Control Commands8-878Command Reference8.4 Program Control CommandsThis section describes program control commands including branching co

8 Command Reference8.4.1 Branching Commands (IF ELSE IEND)8-88The conditional expressions that can be used for the branching commands are as follows

8.4 Program Control Commands8-898Command Reference8.4.2 Repeat (WHILE WEND)(1) OverviewThe Repeat commands (WHILE WEND) repeatedly execute the bloc

8 Command Reference8.4.2 Repeat (WHILE WEND)8-90The conditional expressions that can be used for repeat commands are as follows.(a) Bit Data Compari

8.4 Program Control Commands8-918Command Reference(3) Programming ExamplesA programming example of a repeat command (WHILE WEND) is shown below.With

8 Command Reference8.4.3 Parallel Execution (PFORK, JOINTO, PJOINT)8-928.4.3 Parallel Execution (PFORK, JOINTO, PJOINT)(1) OverviewThe Parallel Fo

Copyright © 2008 YASKAWA ELECTRIC CORPORATIONAll rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or tra

1 Overview1.2.3 Easy to Realize High-level Motion Control1-41.2.3 Easy to Realize High-level Motion ControlIn addition to basic motion control, mot

8.4 Program Control Commands8-938Command Reference(b) Parallel Execution Commands in SubprogramsThe following restrictions apply to the parallel exec

8 Command Reference8.4.3 Parallel Execution (PFORK, JOINTO, PJOINT)8-94(3) Programming ExamplesA programming example of parallel execution commands

8.4 Program Control Commands8-958Command Reference8.4.4 Selective Execution (SFORK, JOINTO, SJOINT)(1) OverviewThe Selective Execution commands (SFO

8 Command Reference8.4.4 Selective Execution (SFORK, JOINTO, SJOINT)8-96(2) FormatThe conditional expressions that can be used for selective executi

8.4 Program Control Commands8-978Command Reference(b) Integer/Double Integer/Real Number Data Comparison Format• All data comparison command

8 Command Reference8.4.4 Selective Execution (SFORK, JOINTO, SJOINT)8-98(3) Programming ExamplesA programming example of selective execution command

8.4 Program Control Commands8-998Command Reference8.4.5 Motion Subprogram Call (MSEE)(1) OverviewThe Motion Subprogram Call command (MSEE) can call

8 Command Reference8.4.6 Sequence Subprogram Call (SSEE)8-1008.4.6 Sequence Subprogram Call (SSEE)(1) OverviewThe Sequence Subprogram Call command

8.4 Program Control Commands8-1018Command Reference8.4.7 User Function Call From Motion Program (UFC)(1) OverviewThe User Function Call From Motion

8 Command Reference8.4.7 User Function Call From Motion Program (UFC)8-102(3) Programming ExamplesA UFC command programming example is shown below.F

1.2 Motion Program Features1-51Overview1.2.6 Data Transfer from/to Ladder ProgramData can be transferred between a ladder program and motion program

8.4 Program Control Commands8-1038Command Reference(6) Relationship between I/O Registers and Internal Function RegistersThe correspondence between t

8 Command Reference8.4.7 User Function Call From Motion Program (UFC)8-104The following 11 types of register can be used in each function.Note: SA,

8.4 Program Control Commands8-1058Command ReferenceAn example of the transfer of I/O registers is shown below.Fig. 8.62 Motion Program CodingUFC TE

8 Command Reference8.4.7 User Function Call From Motion Program (UFC)8-106(7) Creating User FunctionsThe procedure for creating the user function of

8.4 Program Control Commands8-1078Command Reference3. A blank ladder program field will appear in the Ladder subwindow. Right-click FUNC-T1 to select

8 Command Reference8.4.7 User Function Call From Motion Program (UFC)8-1085. Close the DWG Configuration Definition window, and edit the user functi

8.4 Program Control Commands8-1098Command Reference8.4.8 User Function Call from Sequence Program (FUNC)(1) OverviewThe User Function Call from Sequ

8 Command Reference8.4.9 Program End (END)8-1108.4.9 Program End (END)(1) OverviewThe Program End command (END) ends program operation.No other com

8.4 Program Control Commands8-1118Command Reference8.4.10 Subprogram End (RET)(1) OverviewThe Subprogram End command (RET) ends subprogram operation

8 Command Reference8.4.11 Dwell Time (TIM)8-1128.4.11 Dwell Time (TIM)(1) OverviewThe Dwell Time command (TIM) causes execution to pause for a spec

1 Overview1.2.8 Parallel Program Execution1-61.2.8 Parallel Program ExecutionWith a single MP2000-series Machine Controller, up to 16 tasks can be

8.4 Program Control Commands8-1138Command Reference8.4.12 I/O Variable Wait (IOW)(1) OverviewThe I/O Variable Wait command (IOW) causes execution to

8 Command Reference8.4.12 I/O Variable Wait (IOW)8-114(b) Integer/Double Integer/Real Number Data Comparison (3) Programming ExamplesAn IOW command

8.4 Program Control Commands8-1158Command Reference8.4.13 One Scan Wait (EOX)(1) OverviewThe One Scan Wait command (EOX) causes program execution to

8 Command Reference8.4.14 Single-block Signal Disabled (SNGD)/Single-block Signal Enabled (SNGE)8-1168.4.14 Single-block Signal Disabled (SNGD)/Sin

8.5 Arithmetic Operations8-1178Command Reference8.5 Arithmetic OperationsThis section explains the arithmetic operation commands.For priority levels

8 Command Reference8.5.2 Add (+)8-1188.5.2 Add (+) (1) OverviewADD (+) performs integer and real number addition on the right side and stores the

8.5 Arithmetic Operations8-1198Command Reference8.5.3 Subtract (-)(1) OverviewSubtract (-) performs integer and real number subtraction on the right

8 Command Reference8.5.4 Multiply (*)8-1208.5.4 Multiply (*)(1) OverviewMultiply (*) performs integer and real number multiplication on the right s

8.5 Arithmetic Operations8-1218Command Reference8.5.5 Divide (/)(1) OverviewDivide (/) performs integer and real number division on the right side a

8 Command Reference8.5.6 Remainder (MOD)8-1228.5.6 Remainder (MOD) (1) OverviewWhen specified in the next block after Divide, MOD stores the remain

1.2 Motion Program Features1-71Overview1.2.10 Enriched Easy Programming Functions (MPE720 Ver.6.04 or later)The engineering tool MPE720 Ver.6 for MP

8.6 Logic Operation8-1238Command Reference8.6 Logic OperationThis section explains the commands used to perform bit and integer logic operations.Alt

8 Command Reference8.6.1 OR (|)8-124(3) Programming ExamplesLogical OR(|) command programming examples are shown below.TypeMotion Programs/Sequence

8.6 Logic Operation8-1258Command Reference8.6.2 AND (&)(1) OverviewAND (&) performs a logical AND for the immediately preceding operation re

8 Command Reference8.6.3 XOR (^)8-1268.6.3 XOR (^)(1) OverviewXOR (^) performs an exclusive logical OR for the immediately preceding operation resu

8.6 Logic Operation8-1278Command Reference8.6.4 NOT (!)(1) OverviewNOT inverts the data in the specified register and returns the operation result.

8 Command Reference8.7.1 Data Comparison Commands (==, <>, >, <, >=, <=)8-1288.7 Data ComparisonsThis section explains the data c

8.7 Data Comparisons8-1298Command ReferenceThe conditional expressions that can be used with data comparison commands are as shown below.(a) Bit Data

8 Command Reference8.8.1 Bit Right Shift (SFR)8-1308.8 Data OperationsThis section describes the data operation commands that are used to shift, tr

8.8 Data Operations8-1318Command Reference8.8.2 Bit Left Shift (SFL)(1) OverviewThe SFL command shifts a bit string designated by the leading bit nu

8 Command Reference8.8.3 Block Move (BLK)8-1328.8.3 Block Move (BLK)(1) OverviewThe BLK command moves the specified number of words from the beginn

1 Overview1-81.3 Motion Program Execution SequenceThe motion programs created on the MPE720 Motion Editor window are transferred to the MP2000-serie

8.8 Data Operations8-1338Command Reference8.8.4 Clear (CLR)(1) OverviewThe CLR command clears the specified number of blocks from the leading data c

8 Command Reference8.8.5 ASCII Conversion 1 (ASCII)8-1348.8.5 ASCII Conversion 1 (ASCII)(1) OverviewThe ASCII command converts the character string

8.8 Data Operations8-1358Command Reference(3) Programming ExamplesASCII command programming examples are shown below.(a) Storing the character string

8 Command Reference8.9.1 Sine (SIN)8-1368.9 Basic FunctionsThis section describes the basic function commands, including trigonometric functions, s

8.9 Basic Functions8-1378Command Reference(3) Programming ExamplesSIN command programming examples are shown below.EXAMPLETypeMotion Programs/Sequenc

8 Command Reference8.9.2 Cosine (COS)8-1388.9.2 Cosine (COS)(1) OverviewThe cosine command (COS) returns the cosine of integer or real number data

8.9 Basic Functions8-1398Command Reference8.9.3 Tangent (TAN)(1) OverviewThe TAN command uses the specified variable or constant (unit = degrees) as

8 Command Reference8.9.4 Arc Sine (ASN)8-1408.9.4 Arc Sine (ASN)(1) OverviewThe ASN command uses the specified variable or constant as input and re

8.9 Basic Functions8-1418Command Reference8.9.5 Arc Cosine (ACS)(1) OverviewThe ACS command uses the specified variable or constant as input and ret

8 Command Reference8.9.6 Arc Tangent (ATN)8-1428.9.6 Arc Tangent (ATN)(1) OverviewThe ATN command returns the arc tangent of integer or real number

1.4 Motion Program Execution Registration1-91Overview1.4 Motion Program Execution RegistrationExecution of motion programs can be registered in two

8.9 Basic Functions8-1438Command Reference8.9.7 Square Root (SQT)(1) OverviewThe SQT command returns the square root of an integer or real number as

8 Command Reference8.9.7 Square Root (SQT)8-144(3) Programming ExamplesSQT command programming examples are shown below.TypeMotion Programs/Sequence

8.9 Basic Functions8-1458Command Reference8.9.8 BCD to Binary (BIN)(1) OverviewThe BCD to Binary (BIN) command converts BCD data to binary data.Only

8 Command Reference8.9.9 Binary to BCD (BCD)8-1468.9.9 Binary to BCD (BCD)(1) OverviewThe Binary to BCD (BCD) command converts binary data to BCD d

8.9 Basic Functions8-1478Command Reference8.9.10 Set Bit (S{ })(1) OverviewThis command turns ON the specified bit if the logical operation result i

8 Command Reference8.9.11 Reset Bit (R{ })8-1488.9.11 Reset Bit (R{ })(1) OverviewThis command turns OFF the specified bit if the logical operation

8.9 Basic Functions8-1498Command Reference8.9.12 Rising Pulse (PON)(1) OverviewThe PON command is ON during one scan of bit output when the bit inpu

8 Command Reference8.9.12 Rising Pulse (PON)8-150(3) Programming ExamplesThe PON command programming examples are shown below.(a) Outputting to a Co

8.9 Basic Functions8-1518Command Reference8.9.13 Falling Pulse (NON)(1) OverviewFalling Pulse (NON) is ON during one scan of bit output when the bit

8 Command Reference8.9.13 Falling Pulse (NON)8-152(3) Programming ExamplesNON command programming examples are shown below.(a) Outputting to a Coil•

1 Overview1-101.5 Motion Program Execution TimingMotion programs are executed in full synchronization with MP2000 high-speed scans. In every high-sp

8.9 Basic Functions8-1538Command Reference(b) Using a NON Command Combined with an IF Command• Ladder equivalent circuit• Timing chartIF NON(DB0000

8 Command Reference8.9.14 ON-Delay Timer (TON): Counting unit: 0.01 second8-1548.9.14 ON-Delay Timer (TON): Counting unit: 0.01 second(1) OverviewT

8.9 Basic Functions8-1558Command Reference(3) Programming ExamplesTON command programming examples are shown below.• Ladder equivalent circuit• Tim

8 Command Reference8.9.15 OFF-Delay Timer (TOF):Counting unit: 0.01 second8-1568.9.15 OFF-Delay Timer (TOF):Counting unit: 0.01 second(1) OverviewT

8.9 Basic Functions8-1578Command Reference(3) Programming ExamplesTOF command programming examples are shown below.• Ladder equivalent circuit• Tim

8 Command Reference8.10.1 C-Language Task Control (CTSK)8-1588.10 C-Language Control Commands8.10.1 C-Language Task Control (CTSK)(1) OverviewThe

8.10 C-Language Control Commands8-1598Command Reference* The μITRON detection errors will not occur normally because the system manages them.Note: 1

8 Command Reference8.10.2 C-Language Function Call (CFUNC)8-1608.10.2 C-Language Function Call (CFUNC)(1) OverviewThe C-Language Function Call comm

8.10 C-Language Control Commands8-1618Command Reference(2) Format(3) Programming ExamplesThe CFUNC command programming example is shown below.CFUNC E

9-19Engineering Tool MPE7209Engineering Tool MPE720This chapter describes the engineering tool MP720, for creating and editing motion programs and seq

1.6 Grouping1-111Overview1.6 GroupingThe axes involved in related operations are organized into individual groups. Motion programs can be created fo

9 Engineering Tool MPE7209.1.1 Overview9-29.1 Motion EditorThis section describes the Motion Editor.9.1.1 OverviewThe Motion Editor is a programmi

9.1 Motion Editor9-39Engineering Tool MPE720There are two ways to start the Motion Editor:• Double-click the program in the Motion subwindow.• Clic

9 Engineering Tool MPE7209.1.2 Names and Descriptions of Motion Editor Window Components9-49.1.2 Names and Descriptions of Motion Editor Window Com

9.1 Motion Editor9-59Engineering Tool MPE720e) Tool iconsThe following table shows the icons used to edit programs.f) Monitor tab and status barUsed

9 Engineering Tool MPE7209.2.1 Overview9-69.2 Command Input Assistant FunctionThis section describes the motion command input assistant function.9.

9.2 Command Input Assistant Function9-79Engineering Tool MPE720• Select Motion command assist from the pop-up menu when you right-click the Motion E

9 Engineering Tool MPE7209.2.2 Motion Command Assist Dialog Box Details9-89.2.2 Motion Command Assist Dialog Box Detailsa) Select command (Command

9.2 Command Input Assistant Function9-99Engineering Tool MPE720c) Axis number (Number of axes to be controlled)For axis move commands, the number of

9 Engineering Tool MPE7209.2.2 Motion Command Assist Dialog Box Details9-10e) Comment check box and Comment input fieldSelecting the Comment check b

9.2 Command Input Assistant Function9-119Engineering Tool MPE720i) Help buttonClick the Help button to display a description of the selected command.

1 Overview1.7.1 Example 1: Handling System1-121.7 Application ExamplesMotion programs can be used for operations of various systems.Some applicatio

9 Engineering Tool MPE7209.3.1 Overview9-129.3 Program Execution Registration FunctionThis section describes the program execution registration fun

9.3 Program Execution Registration Function9-139Engineering Tool MPE7209.3.2 Program Execution Registry Screen Dialog Box Detailsa) Program executio

9 Engineering Tool MPE7209.3.2 Program Execution Registry Screen Dialog Box Details9-14e) Register allocationAllocate the registers. The allocated r

9.4 Debug Function9-159Engineering Tool MPE7209.4 Debug FunctionThis section describes the debug function.9.4.1 OverviewThe debug function debugs m

9 Engineering Tool MPE7209.4.2 Motion Editor Window during Debugging9-169.4.2 Motion Editor Window during Debugginga) Executing program lineThe exe

9.4 Debug Function9-179Engineering Tool MPE720• Debug mode Click this icon to switch the operation mode to the debug mode and start debugging from t

9 Engineering Tool MPE7209.4.2 Motion Editor Window during Debugging9-18• Set/Delete break point Click this icon to set a break point. A maximum of

9.4 Debug Function9-199Engineering Tool MPE720• Execute Click this icon to continuously execute program lines. When the break point is reached, the

9 Engineering Tool MPE7209.4.2 Motion Editor Window during Debugging9-20• Setting the execute task (Only for subprograms)Set the subprogram infor

9.4 Debug Function9-219Engineering Tool MPE720• Set/Delete BreakpointEnables or disables the break point.• Add RegisterThe register displayed on th

1.7 Application Examples1-131Overview1.7.3 Example 3: Panel Processing Machine1.7.4 Example 4: Metal Sheet Bending EquipmentOutline• To draw wavefo

9 Engineering Tool MPE7209.5.1 Overview9-229.5 Motion Task ManagerThis section describes the Motion Task Manager.9.5.1 OverviewThe Motion Task Man

9.5 Motion Task Manager9-239Engineering Tool MPE7209.5.2 Motion Task Manager Window Detailsa) Task execution status is displayed in a tree structure

9 Engineering Tool MPE7209.6.1 Overview9-249.6 Drive Control PanelThis section describes the Drive Control Panel.9.6.1 OverviewTo execute the crea

9.6 Drive Control Panel9-259Engineering Tool MPE720Click the icon in the Motion Editor window to start the Drive control panel.

9 Engineering Tool MPE7209.6.2 Drive Control Panel Details9-269.6.2 Drive Control Panel Detailsa) Program exec registry No.The program execution re

9.6 Drive Control Panel9-279Engineering Tool MPE720h) Display buttonClick the Display button to open the Error information screen window. Refer to 10

9 Engineering Tool MPE7209.7.1 Overview9-289.7 Test Run FunctionThis section describes the Test Run function.9.7.1 OverviewThe Test Run function i

9.7 Test Run Function9-299Engineering Tool MPE7209.7.2 Test Run Window Detailsa) AxisSelect the axis for the test run.b) Servo Enable, AlarmThe serv

9 Engineering Tool MPE7209.7.2 Test Run Window Details9-30d) Speed referenceSet the speed reference value. Special care must be taken for this opera

9.8 Axis Status and Alarm Monitor9-319Engineering Tool MPE7209.8 Axis Status and Alarm MonitorThis section describes the axis operation monitor and

iiiAbout This Manual This manual provides information on motion commands for the MP2000 series Machine Control-lers.• Motion program overview• Spec

1 Overview1-141.8 What is a Sequence Program?The sequence program is a scan execution type program written in the language commonly used for the mot

9 Engineering Tool MPE7209.8.1 Overview9-32Double-click Axis monitor or Alarm monitor in the System subwindow to start the axis monitor or alarm mon

9.8 Axis Status and Alarm Monitor9-339Engineering Tool MPE7209.8.2 Monitor Window Details(1) Axis Monitora) CircuitSelect the circuit whose motion m

9 Engineering Tool MPE7209.8.2 Monitor Window Details9-34g) Motion monitoring parameter selection A maximum of eight motion monitoring parameters ca

9.8 Axis Status and Alarm Monitor9-359Engineering Tool MPE720(2) Alarm Monitora) Manually refreshClick this icon to refresh the alarm and warning inf

10-110Troubleshooting10TroubleshootingThis chapter describes the causes of errors in motion programs and sequence programs, and suggests corrective ac

10 Troubleshooting10.1.1 Basic Flow of Troubleshooting10-210.1 TroubleshootingThis section describes troubleshooting methods, and provides a list o

10.2 Troubleshooting for Motion Programs10-310Troubleshooting10.2 Troubleshooting for Motion Programs10.2.1 Error Investigation FlowIf the cause of

10 Troubleshooting10.2.2 Problem Starting a Motion Program10-410.2.2 Problem Starting a Motion ProgramIf a problem exists when starting a motion pr

10.2 Troubleshooting for Motion Programs10-510Troubleshooting(2) Program Start Request Bit of Control Signal and Program Running Status Bit of Sta-tu

10 Troubleshooting10.2.2 Problem Starting a Motion Program10-6(3) Program Alarm Bit of Status FlagIf status flag bit 8 (Program alarm) is ON, the mo

1.9 Sequence Program Features1-151Overview1.9 Sequence Program Features1.9.1 Execution MethodA sequence program employs the same execution method a

10.2 Troubleshooting for Motion Programs10-710Troubleshooting(4) "No System Work" Error/Execution Scan Error Bit of Status FlagIf running s

10 Troubleshooting10.2.2 Problem Starting a Motion Program10-8(5) Main Program Number Over the Range Status Flag BitWhen status flag bit F (Main pro

10.2 Troubleshooting for Motion Programs10-910Troubleshooting10.2.3 Confirming the Alarm CodeWhen an alarm occurs in motion programs (status flag bi

10 Troubleshooting10.2.3 Confirming the Alarm Code10-10The components of the Error information screen window are described below.a) Registry numberW

10.2 Troubleshooting for Motion Programs10-1110Troubleshootingg) Block numberThe block number where an error occurs is displayed.Double-click the blo

10 Troubleshooting10.2.3 Confirming the Alarm Code10-12• System Work Number 1 to 8System Work NumberSystem Work 1System Work 2System Work 3System W

10.2 Troubleshooting for Motion Programs10-1310Troubleshooting• System Word Number 9 to 16Logical axis #13Program Current PositionSL03314 SL03372 SL

10 Troubleshooting10.2.3 Confirming the Alarm Code10-14Logical axis #8Program Current PositionSL03768 SL03826 SL03884 SL03942 SL04000 SL04058 SL0411

10.2 Troubleshooting for Motion Programs10-1510Troubleshooting10.2.4 Motion Program Alarm Codes(1) Configuration of Motion Program AlarmsThe followi

10 Troubleshooting10.2.4 Motion Program Alarm Codes10-161Fh Address P out of rangeDesignation exceeded the valid range in the IFP command. Review th

1 Overview1.9.4 Memory Usage Reduced by Use of Subprograms1-161.9.4 Memory Usage Reduced by Use of SubprogramsSubroutines (subprograms) can be crea

10.3 Troubleshooting for Sequence Programs10-1710Troubleshooting10.3 Troubleshooting for Sequence Programs10.3.1 Error Investigation FlowIf the cau

10 Troubleshooting10.3.2 Problem Starting a Sequence Program10-1810.3.2 Problem Starting a Sequence ProgramWhen a problem exists when starting a se

A-1AppAppendicesA Motion Language Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2A.1 Axis Setting Commands - - - -

Appendices A.1 Axis Setting CommandsA-2A Motion Language CommandsMotion language commands are listed below. Refer to Chapter 8 Command Reference fo

AppA Motion Language CommandsA-3A.2 Axis Move CommandsCom-mandName Programming Format DescriptionMotion ProgramsSequence ProgramsMOV PositioningMOV

Appendices A.2 Axis Move CommandsA-4ZRNZero Point ReturnZRN [Logical axis name1]0[Logical axis name 2]0 [Logical axis name 3] ;Returns each axis to

AppA Motion Language CommandsA-5A.3 Control CommandsCom-mandName Programming Format DescriptionMotion ProgramsSequence ProgramsPOSCurrentPosition Se

Appendices A.4 Program Control CommandsA-6A.4 Program Control CommandsCom-mandName Programming Format DescriptionMotion ProgramsSequence ProgramsIF

AppA Motion Language CommandsA-7TIM Dwell Time TIM T−Waits for the period of time specified by T, and then proceeds to the next block. −IOW I/O Wai

Appendices A.5 Arithmetic OperationsA-8A.5 Arithmetic OperationsA.6 Logical OperationsCom-mandName Programming Format DescriptionMotion ProgramsSe

2-12Specifications2SpecificationsThis chapter describes the relevant specifications of motion program and engineering tool MPE720.2.1 MP2000 Series Ma

AppA Motion Language CommandsA-9A.7 Data ComparisonA.8 Data OperationsCom-mandName Programming Format DescriptionMotion ProgramsSequence Programs==

Appendices A.9 Basic FunctionsA-10A.9 Basic FunctionsCom-mandName Programming Format DescriptionMotion ProgramsSequence ProgramsSIN SineSIN (MW − )

AppA Motion Language CommandsA-11A.10 C-Language Control CommandsCom-mandName Programming Format DescriptionMotion ProgramsSequence ProgramsCTSKC-La

Appendices A-12B Sample ProgramsThe following table shows the sample programs.Sample Programs DescriptionReference SectionPrograms to control motion

AppB Sample ProgramsA-13B.1 Programs for Controlling Motion Program ExecutionSample ladder and sequence programs to control execution of motion prog

Appendices B.1 Programs for Controlling Motion Program ExecutionA-14(2) Sequence ProgramNo MSEE command can be embedded in sequence programs.In this

AppB Sample ProgramsA-15B.2 Parallel ProcessingA sample motion program for parallel execution accomplished by using a PFORK command is shown below.T

Appendices B.3 Motion Program for Speed ControlA-16B.3 Motion Program for Speed ControlA sample motion program for speed control is shown below.For

AppB Sample ProgramsA-17B.4 Simple Synchronized Operation Using a Virtual AxisWith this sample program, a motion program is used to move an SVR (vir

Appendices B.4 Simple Synchronized Operation Using a Virtual AxisA-18

2 Specifications2.1.1 Applicable Machine Controller Models2-22.1 MP2000 Series Machine Controller Specifications2.1.1 Applicable Machine Controlle

AppB Sample ProgramsA-19B.5 Sequence ProgramsIn this sample program, sequence programs are used for JOG and STEP operation of servomotor with single

Appendices B.5 Sequence ProgramsA-20Sequence subprogram (SPS003)"SPS003: JOG & STEP operation process" "-------------------------

AppC Differences between MP900 Series and MP2000 Series Machine ControllersA-21C Differences between MP900 Series and MP2000 SeriesMachine Controlle

Appendices C.3 Motion Programming CommandsA-22C.3 Motion Programming CommandsC.4 Group DefinitionsItem MP900 Series MP2000 Series RemarksACC, DCC•

AppC Differences between MP900 Series and MP2000 Series Machine ControllersA-23C.5 Debug FunctionC.6 Motion Program AlarmsItem MP900 Series MP2000

Appendices D.1 General PrecautionsA-24D PrecautionsD.1 General Precautions(1) Saving the Changes in Programs to the Flash MemoryAfter changing an

AppD PrecautionsA-25With a motion program, an ABS or INC command is used to set the absolute mode or incremental mode:Code an ABS command to set the

Appendices D.2 Precautions on Motion Parameter SettingsA-26(3) Do not access a motion register of a different circuit by using a subscriptAs with th

AppD PrecautionsA-27(4) Do not change the motion setting parameter OL1C “Position reference setting” while axis motion is in progress in a motion p

IndexIndex-1IndexSymbols! - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-127# register- - - - - - - - - - - -

2.1 MP2000 Series Machine Controller Specifications2-32Specifications2.1.3 List of Machine Controller SpecificationsMP2100,MP2100MMP2300 MP2300S MP2

IndexIndex-2Command Input Assistant function- - - - - - - - - - - - - - - - - - 1-7, 1-16command input assistant function- - - - - - - - - - - - - - -

IndexIndex-3integer - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3internal function register - - - - - - - - -

IndexIndex-4MPE720 Ver.5- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5MPE720 Ver.6- - - - - - - - - - - - - - - - - - - -

IndexIndex-5remainder (MOD) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-122Repeat (WHILE WEND)- - - - - - - - - - - - - - - - - -

IndexIndex-6TIM- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-112TOF- - - - - - - - - - - - - - - - - - - - - - -

Revision HistoryThe revision dates and numbers of the revised manuals are given on the bottom of the back cover.Date of PublicationRev. No.WEB Rev. No

IRUMA BUSINESS CENTER (SOLUTION CENTER)480, Kamifujisawa, Iruma, Saitama 358-8555, JapanPhone 81-4-2962-5151 Fax 81-4-2962-6138http://www.yaskawa.

2 Specifications2.1.3 List of Machine Controller Specifications2-4Sequence ProgramApplicable N/A Applicable N/AApplica-bleN/AApplica-ble−Number ofPr

2.2 Engineering Tool MPE720 Specifications2-52Specifications2.2 Engineering Tool MPE720 Specifications2.2.1 Applicable Version Numbers of the Engin

2 Specifications2-62.3 List of Motion Language CommandsType Command Name Type Commands NameAxis Set CommandsABS Absolute ModeArithmetic Operation= S

3-13Program Development Flow3Program Development FlowThis chapter describes the procedures from system setup to operation start using the program-ming

ivRelated Manuals The following table lists the related manuals. Refer to these manuals as required. Before using, be sure you understand the pr

3 Program Development Flow 3-23.1 Program Development FlowIn this chapter, motion program development procedures are described according to the fol

3.2 Program Development Procedure3-33Program Development Flow3.2 Program Development Procedure3.2.1 Hardware ConfigurationThe program development p

3 Program Development Flow3.2.5 Creating Project Files3-43.2.5 Creating Project Files1. Double-click the MPE720 Ver.6 icon on the computer desktop

3.2 Program Development Procedure3-53Program Development Flow3.2.6 Group DefinitionsBefore creating a motion program, organize the axes into individ

3 Program Development Flow3.2.7 Creating a Motion Program3-63.2.7 Creating a Motion ProgramStart the Motion Editor to create a motion program.1. Pr

3.2 Program Development Procedure3-73Program Development Flow3.2.8 Registering the Program ExecutionCall the created motion program from the H drawi

3 Program Development Flow3.2.8 Registering the Program Execution3-84. Create the ladder program shown below. After the ladder program has been crea

3.2 Program Development Procedure3-93Program Development FlowThe motion programs can be registered to run by registering the programs in the M-EXECUT

3 Program Development Flow3.2.9 Transferring the Motion Program3-103.2.9 Transferring the Motion ProgramTransfer the motion program to the MP2000-s

3.2 Program Development Procedure3-113Program Development Flow4. Click the Individual button, and then select the Program check box. Click the Start

vVisual AidsThe following aids are used to indicate certain types of information for easier reference.Indicates important information that should be m

3 Program Development Flow3.2.10 Debugging the Program3-123.2.10 Debugging the ProgramDebug the created program. For details on debugging, refer to

3.2 Program Development Procedure3-133Program Development Flow3.2.11 Saving the Programs in Flash MemorySave the data in the MP2000-series Machine C

3 Program Development Flow3.2.12 Executing the Programs3-143.2.12 Executing the ProgramsExecute the created programs to operate the actual machine.

4-14Motion Programs4Motion ProgramsThis chapter describes motion program types and how to run them.4.1 Types of Motion Programs - - - - - - - - - - -

4 Motion Programs 4-24.1 Types of Motion ProgramsThere are two motion program types, as listed below. The program numbers of motion programs are m

4.3 Running a Motion Program4-34Motion Programs4.3 Running a Motion Program4.3.1 How to Run a Motion ProgramTo run the created motion programs, the

4 Motion Programs4.3.1 How to Run a Motion Program4-4(2) Registering it to the M-EXECUTOR Program Execution DefinitionAfter creating a motion progra

4.3 Running a Motion Program4-54Motion Programs4.3.2 Registering the Program ExecutionPrograms can be registered in the two following ways.The follo

4 Motion Programs4.3.3 Work Registers4-64.3.3 Work RegistersWhen registering motion programs as described in 4.3.2 Registering the Program Executio

4.3 Running a Motion Program4-74Motion Programs(a) Status FlagBit No Status Description0 to 3Bit 0 Program runningThis bit is ON while the motion pro

viSafety PrecautionsThis section describes important precautions that apply to motion programming. Before programming, always read this manual and

4 Motion Programs4.3.3 Work Registers4-8(b) Control Signal: Signals with this indication must be kept ON until they are accepted by the system.: Sig

4.3 Running a Motion Program4-94Motion Programs(c) Interpolation OverrideSet the override value for execution of an interpolation command MVS, MCW, M

4 Motion Programs4.3.3 Work Registers4-10• Timing Chart for Motion Program Control SignalsThe following figure shows an example of a timing chart f

4.4 Advanced Programming4-114Motion Programs4.4 Advanced Programming4.4.1 Indirect Designation of a Program Number Using a RegisterThis method call

4 Motion Programs4.4.2 Controlling the Motion Program Directly from an External Device4-124.4.2 Controlling the Motion Program Directly from an Ext

4.4 Advanced Programming4-134Motion Programs4.4.3 Monitor the Motion Program Execution Information Using S RegisterUsing S register (SW03200 to SW04

4 Motion Programs4.4.3 Monitor the Motion Program Execution Information Using S Register4-14(a) Register Areas for Motion Program Execution Informat

4.4 Advanced Programming4-154Motion Programs(b) Details of Program Information Used by Work nFor a list of S registers, refer (2) Using S Register in

5-15Sequence Programs5Sequence ProgramsThis chapter describes sequence program types and how to run them.5.1 Sequence Program Types - - - - - - - - -

5 Sequence Programs 5-25.1 Sequence Program TypesSequence programs are of the following two types. The program numbers of sequence programs are ma

vii General Precautions• If the following coordinate commands are designated incorrectly, the subsequent move operations will be entirely different

5.2 How to Run a Sequence Program5-35Sequence Programs5.2 How to Run a Sequence Program5.2.1 How to Run a Sequence ProgramA sequence program is exe

5 Sequence Programs5.2.2 Registering Program Execution5-4(2) Execution TimingThe following diagram illustrates program execution timing.As shown in

5.2 How to Run a Sequence Program5-55Sequence Programs5.2.3 Work RegisterA status flag to monitor program status is assigned to the sequence program

6-16Variables (Registers)6Variables (Registers)This chapter describes the details of variables that can be used in both motion programs and sequence p

6 Variables (Registers)6.1.1 Variable Types6-26.1 OverviewThis section summarizes the variables used in motion programs.6.1.1 Variable TypesIn a m

6.1 Overview6-36Variables (Registers)(2) Data TypesAs shown in the following table, the data types are bit, integer, double integer, and real number

6 Variables (Registers)6.1.2 Global Variables and Local Variables6-46.1.2 Global Variables and Local Variables(1) Global VariablesGlobal variables

6.1 Overview6-56Variables (Registers)The number of local variables (D registers) to be used in each program can be specified in the Program Prop-erty

6 Variables (Registers)6.1.2 Global Variables and Local Variables6-6 Precautions for Variable OperationsStoring data in a variable of a different d

6.2 Using Variables6-76Variables (Registers)6.2 Using VariablesThis section explains how to use variables.6.2.1 System Variables (S Registers)(1) O

viiiWarranty(1) Details of Warranty Warranty PeriodThe warranty period for a product that was purchased (hereinafter called “delivered product”)

6 Variables (Registers)6.2.2 Data Variables (M Registers)6-86.2.2 Data Variables (M Registers)(1) OverviewM registers are general-purpose variables

6.2 Using Variables6-96Variables (Registers)6.2.3 Input Variables (I Registers)(1) OverviewThese variables are used by input data and the servo moni

6 Variables (Registers)6.2.3 Input Variables (I Registers)6-10The register numbers for each axis of the motion monitor parameters can be obtained by

6.2 Using Variables6-116Variables (Registers)6.2.4 Output Variables (O Registers)(1) OverviewThese variables are used for output data and servo sett

6 Variables (Registers)6.2.4 Output Variables (O Registers)6-12The register numbers for each axis of motion setting parameters can be obtained by th

6.2 Using Variables6-136Variables (Registers)6.2.5 C Variables (C Registers)(1) OverviewC registers are variables to be referenced from programs. Th

6 Variables (Registers)6.2.6 D Variables (D Registers)6-146.2.6 D Variables (D Registers)(1) OverviewD variables can be used only by the relevant p

6.3 How to Use Subscripts i, j6-156Variables (Registers)6.3 How to Use Subscripts i, jTwo type of registers (i, j) are available as dedicated regist

6 Variables (Registers)6-16• The following versions of system software and programming tool MPE720 are required to use subscripts i and j.• Both u

7-17Programming7ProgrammingThis chapter describes the rules for creating motion programs and sequence programs.7.1 Motion Program Format - - - - - -

ix(3) Suitability for Use1. It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yask

7 Programming7.1.1 Motion Program Structure7-27.1 Motion Program Format7.1.1 Motion Program StructureA motion program contains a program number, a

7.1 Motion Program Format7-37Programming(1) LabelA label consists of a character string containing from one to eight alphanumeric characters or symbo

7 Programming7.1.2 Block Format7-4(4) Coordinate WordsA coordinate word is a numerical value or a variable to be coded after an axis name. A coordin

7.1 Motion Program Format7-57Programming(5) Specific CharactersThe meaning and application examples of each specific character are listed below. Refe

7 Programming7.1.2 Block Format7-6(6) End of BlockInsert a semi-colon at the end of block. There is no limitation on the number of lines in a block.

7.1 Motion Program Format7-77Programming7.1.3 Using Constants and Variables(1) ConstantsThe constants that can be used in motion programs are listed

7 Programming7.1.3 Using Constants and Variables7-80 (zero) cannot be omitted in all constants and variables. Examples Where 0 (zero) Can be Omitte

7.2 Motion Module Parameters7-97Programming7.2 Motion Module ParametersMotion control using motion programs is determined according to the settings

7 Programming7.2.3 Electronic Gear7-10The range of reference positions for an axis move command are as follows:7.2.3 Electronic GearIn contrast to

7.2 Motion Module Parameters7-117Programming(2) Parameter Setting Example Using Rotating Table• Machine specifications: Rotating table axis rotates