Yaskawa MP900 Series Motion Programming Manual Manual de usuario descargar pdf (Pagina 40)

Overview of Motion Programs

1.2.1 Programming Format

1 -26

J Handling of Program Numbers

Program numbers are used to identify programs. There are two types of program number: Main

program numbers and subroutine numbers. From 1 to 256 numbers can be attached to the pro-

grams or subroutines.

Main Program

MPMjjj

Program number: 1 to 256

Subroutine

MPSjjj

Program number: 1 to 256

Figure 1.4 Motion Program File Names

1. The same program number cannot be designated for both a main program and a subroutine.

2. A total of up to 256 main programs and subroutines can be created.

J Coding Comments

Comments can be coded in programs for usein motion program maintenance. The following two

coding methods are provided:

D The comment statement is enclosed in double quotation marks.

“ Character string ”

ZRN [axis1]0[axis2]0[axis3] 0; “Zero point return of all axes”

MVS [axis1] 100.0 [axis2] 200. [axis3] 300.0; “3-axis linear interpolation”

D If the comment is not enclosed in double quotation marks, all the remaining characters on

the same line as the double quotation marks (until Enter is pressed) will be treated as a com-

ment.

“ Character string [Enter]

“After zero point return for all axes, move to queue position by linear interpolation

ZRN [axis1]0[axis2]0[axis3]0;

MVS [axis1] 100.0 [axis2] 200. [axis3] 300.0;

INFO

EXAMPLE

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Yaskawa MP900 Series Motion Programming Manual Manual de usuario Pagina 40