Yaskawa MotionSuite Series Machine Controller Programming Manual de usuario Pagina 133
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MotionSuite™ Series Machine Controller Motion Programming Manual Chapter 4: Sequence Commands
4-1
4 Sequence Commands
This chapter explains how to program the sequence commands including the
calculation commands, branch commands, repeat commands, etc.
4.1 Sequence Command Outline .............................................................................. 4-2
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
4.6 Basic Functions..................................................................................................4-26
4.6.1 Sine (SIN) ................................................................................................4-26
4.6.2 Cosine (COS) ........................................................................................... 4-28
4.6.3 Tangent (TAN) ........................................................................................4-30
4.6.4 Arc Sine (ASN) ........................................................................................4-31
4.6.5 Arc Cosine (ACS) .................................................................................... 4-32
4.6.6 Arc Tangent (ATN) ................................................................................. 4-33
4.6.7 Square Root (SQT) .................................................................................. 4-35
4.6.8 BCD
→
BIN (BIN) .................................................................................... 4-37
4.6.9 BIN
→
BCD (BCD) ................................................................................... 4-38
4.6.10 Designated Bit ON (S{ }) ........................................................................ 4-39
4.6.11 Designated Bit OFF (R{ }) ...................................................................... 4-40
- Programming Manual 1
- Cautions on Usage 7
- ! General Cautionary Items 9
- Cautions During Use 9
- 1 Motion Programming Outline 10
- 1.1 What is a Motion Program? 11
- 1.1.2 Basic Program Structure 12
- 1.1.4 Motion Program Start 15
- 1.1.6 Program Editor 16
- Supplement 17
- 1.2 Motion Programming Method 18
- 1.2.1 Input Format 18
- ! Motion Program Sample 18
- ! Input Format 19
- ! Leading Zero 19
- ! +/- Symbol 19
- ! Usable Characters 20
- ! Function Characters 21
- ! Program Number Handling 22
- ! Comment Writing 22
- 1.2.2 Control Axes 24
- Axis Names 24
- ! Coordinate Language List 25
- ! Command Units 26
- ! Maximum Command Value 26
- ! Calculations and Functions 29
- 1.2.3 Feed Speed 30
- ! Fast Feed Speed 30
- ! Interpolation Feed Speed 31
- 1.2.4 Motion Command List 35
- 2 Motion Commands 42
- PLN [X] [Y]; 55
- External positioning signal 72
- 3 Advanced Programming 86
- ! UFC Command Creating Steps 94
- Function Register 96
- Function Register (Continued) 97
- ! User Function Creation 98
- ! Outline 102
- ! Detailed Explanation 102
- ! Program Examples 102
- Important Points 103
- ! Command Methods 105
- ! Program Example 105
- Important Point 107
- Program Examples 120
- 4 Sequence Commands 133
- 4.1 Sequence Command Outline 134
- 4.1.1 Calculation Commands 134
- 5 Variables (Registers) 173
- 5.1 Outline 174
- 5.1.1 Variable Overview 174
- ! Variable (Register) Type 174
- ! Data Type 175
- ! Global Variables 176
- ! Local Variables 177
- Program Example 183
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