Yaskawa MP900 Series Motion Programming Manual Manuel d'utilisateur

Machine Controller MP900/MP2000 SeriesUSER'S MANUALMOTION PROGRAMMINGMANUAL NO. SIEZ-C887-1.3D

Using This ManualxiUsing This ManualJ Intended AudienceThis manual is intended for the following users.D Those responsible for designing the MP series

xiiSafety PrecautionsThis section describes important precautions that apply to motion programming. Before program-ming, always read this manual and a

Safety Precautionsxiii  General Precautions Cautionz If the following coordinate commands are designated incorrectly, the subsequent move opera-tio

xivWarranty Details of WarrantyWarranty PeriodThe warranty period for a product that was purchased (hereinafter called “delivered prod-uct”) is o

Warrantyxv Suitability for Use1. It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if th

1-11Overview of Motion ProgramsThis chapter explains how to create motion programs. Motion programs areinput with the Programming Device, and then tra

Overview of Motion Programs1.1.1 Motion Programming Capabilities1-21.1 Motion ProgrammingThis section gives an overview of motion programming. Be sure

1.1 Motion Programming1-3J Wide Choice of Move CommandsD POSITIONING: Up to 14 axes *D LINEAR INTERPOLATION: Up to 14 axes *D CIRCULAR INTERPOLATION:

Overview of Motion Programs1.1.1 Motion Programming Capabilities1-4J Control CommandsD CONDITIONAL BRANCHD REPEATD TIMER (TIM)D SUBROUTINE (MSEE)D PAR

1.1 Motion Programming1-51.1.2 Function PerformanceJ MP910 Motion Control Function SpecificationsTable 1.1 lists the motion control function specifica

!!Safety InformationiiiSafety InformationThe following conventions are used to indicate precautions in this manual. Failure to heed precau-tions provi

Overview of Motion Programs1.1.2 Function Performance1-6Item SpecificationCommand WordsAxis Move Commands: 8 commandsMOV, MVS, MCW, MCC, ZRN, SKP, MVT

1.1 Motion Programming1-7Item SpecificationCoordinate SystemRectangular coordinatesZero Point ReturnEight types1. DEC1 + Phase C 5.DEC1 + ZERO2. DEC2

Overview of Motion Programs1.1.2 Function Performance1-8J MP930 Motion Control Function SpecificationsTable 1.3 lists the motion control function spec

1.1 Motion Programming1-9Item SpecificationCommand WordsAxis Move Commands: 8 commandsMOV, MVS, MCW, MCC, ZRN, SKP, MVT, EXMBasic Control Commands: 6

Overview of Motion Programs1.1.2 Function Performance1 -10Item SpecificationPositionControlReferenceUnitmm, inch, deg, pulseReferenceUnit MinimumSetti

1.1 Motion Programming1-11Item SpecificationCommand WordsAxis Move Commands: 5 commandsMOV, MVS, ZRN, SKP, EXMBasic Control Commands: 5 commandsABS. I

Overview of Motion Programs1.1.2 Function Performance1 -12Item SpecificationCoordinate SystemRectangular coordinatesZero Point ReturnThirteen types• D

1.1 Motion Programming1 -13J MP2300 Motion Control Function SpecificationsTable 1.6 lists the motion control function specifications for the MP2300.Ta

Overview of Motion Programs1.1.3 Starting Motion Programs1 -14Item SpecificationCommand WordsAxis Move Commands: 12 commandsMOV, MVS, MCW, MCC, ZNR, S

1.1 Motion Programming1 -15There are two methodsof designatinga motion program: Directdesignation of the programnum-ber, and indirect designationof th

ivVisual AidsThe following aids are used to indicate certain types of information for easier reference.Indicates application examples.Indicates supple

Overview of Motion Programs1.1.3 Starting Motion Programs1 -16Multiple Groups OperationSGDSGDSGDSGDSGDX1 Y1 Z1 A1 B1MP-series MachineControllerJ Motio

1.1 Motion Programming1 -171. Commands not completely processed in one scanMOV, MVS, MCW/MCC, ZRN, SKP, MVT, EXM, ACC, DCC, SCC, PFN, VEL, INP, TIM, I

Overview of Motion Programs1.1.3 Starting Motion Programs1 -18*1.System work number settingOFF: The work that the system automatically fetched is used

1.1 Motion Programming1 -19J Motion Program Status FlagThe first word of the MSEE work register contains the motion-program status flag. The statusfla

Overview of Motion Programs1.1.3 Starting Motion Programs1 -20J Example of Ladder Program for Motion-program ControlThe following examples show the mi

1.1 Motion Programming1 -21The following table shows an example of the external input signals required to create the minimumamount of code that is req

Overview of Motion Programs1.1.5 Editing Programs1 -22MSEE MPM001 DA0000MotionprogramMPM001Ladder Logic Program Motion ProgramsMotionprogramMPM002Moti

1.2 Programming Methods1 -231.2 Programming MethodsThis section describes the basic rules for creating motion programs. Be sure to read this sectionth

Overview of Motion Programs1.2.1 Programming Format1 -24J Programming FormatThe variable-length programming format is as shown in Table 1.10.Table 1.1

1.2 Programming Methods1 -25J Usable CharactersTable 1.11 shows the characters that can be used, together with their meanings.Table 1.11 Usable Charac

vContentsSafety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii Visual Aids . . . . . . . . . . .

Overview of Motion Programs1.2.1 Programming Format1 -26J Handling of Program NumbersProgram numbers are used to identify programs. There are two type

1.2 Programming Methods1 -27J Creating a One-block Command1. Create a one-block command according to the programming format. A typical one-blockexampl

Overview of Motion Programs1.2.2 Controlled Axes1 -281. If there is more than one identical label in a program, an error will result (“Duplicate label

1.2 Programming Methods1 -29Designation Method for Coordinate Words MeaningAuxiliary Data forCircular or HelicalInterpolationR Circular interpolation

Overview of Motion Programs1.2.2 Controlled Axes1 -30J Reference UnitsIn the MP-series Machine Controller, the programmable reference unit can be set

1.2 Programming Methods1 -31J Maximum Programmable ValuesThe maximum values for a single move command are as shown in the following table.Number ofDig

Overview of Motion Programs1.2.2 Controlled Axes1 -32Designation Example 1: Absolute programming mode for an infinite-length axisZRN [X1] 0;INC MOV [X

1.2 Programming Methods1 -33VariablesThe variables that can be used in motion programs are listed in Table 1.16. Use them as re-quired.Table 1.16 Type

Overview of Motion Programs1.2.2 Controlled Axes1 -34Classification Programming FormatNameCommandLogic Operations|OR (logical OR) MB− =MB− |MB−;^XOR (

1.2 Programming Methods1 -351.2.3 Feed SpeedsJ Rapid Traverse SpeedThe rapid traverse speed is used with the following axis movements:D POSITIONING (M

vi3 Advanced Programming3.1 High-Level Control Commands 3 -2...3.1.1 SECOND IN-POSITION CHECK (PFN) 3 -2...

Overview of Motion Programs1.2.3 Feed Speeds1 -36There are three override setting methods: Motion program, ladder logic program, or the Parame-ter Set

1.2 Programming Methods1 -37MCC [X]  [Y]  I  J F200;F = 200 = Vx2+ Vy2[reference unit∕min]+Y+X200 referenceunit/minVy reference unit/minVx refere

Overview of Motion Programs1.2.3 Feed Speeds1 -38D The upper limit of the feed speed is controlled by the capacity of the machine system and theservo

1.2 Programming Methods1 -39D For MP2000-series Machine ControllersThe register of the third word of MSEE command work registerHowever, the validity o

2-12Motion CommandsThis chapter describes programming axis move commands and controlcommands, which are two types of motion commands.2.1 Axis Move Com

vii4.5 Data Operations 4 -18...4.5.1 BIT RIGHT SHIFT (SFR) 4 -18...

viiiA Motion Command ListA.1 Motion Command List A - 2...B Motion Program Alarm ListB.1 Motion Program Alarm Storag

OverviewixOverviewJ About this ManualThis manual provides information on motion commands for the MP900 and MP2000 series (herein-after refered to as M

xManual Name ContentsManual NumberMP920 Machine ControllerUser’s Manual: MotionModuleSIEZ-C887-2.5 Describes the functions, specifications, andusage o