YASKAWA MP3000 Series Setup Manual page 13

 Always check to confirm the paths of axes when any of the following axis movement instruc-
tions are used in programs to ensure that the system operates safely.
• Positioning (MOV)
• Linear Interpolation (MVS)
• Circular Interpolation (MCC or MCW)
• Helical Interpolation (MCC or MCW)
• Set-time Positioning (MVT)
• Linear Interpolation with Skip Function (SKP)
• Zero Point Return (ZRN)
• External Positioning (EXM)
Example
Axis 2
Example of Basic Path for Positioning (MOV) Instructions
There is a risk of injury or device damage.
 The same coordinate word will create a completely different travel operation in Absolute Mode
and in Incremental Mode. Make sure that the ABS and INC instructions are used correctly before
you start operation.
There is a risk of injury or device damage.
 The travel path for the Positioning (MOV) instructions will not necessarily be a straight line.
Check to confirm the paths of the axis when this instruction is used in programs to ensure that
the system operates safely.
There is a risk of injury or device damage.
 The Linear Interpolation (MVS) instruction can be used on both linear axes and rotary axes.
However, if a rotary axis is included, the linear interpolation path will not necessarily be a
straight line. Check to confirm the paths of the axis when this instruction is used in programs to
ensure that the system operates safely.
There is a risk of injury or device damage.
 The linear interpolation for the Helical Interpolation (MCW and MCC) instructions can be used
for both linear axes and rotary axes. However, depending on how the linear axis is taken, the
path of helical interpolation will not be a helix. Check to confirm the paths of the axis when this
instruction is used in programs to ensure that the system operates safely.
There is a risk of injury or device damage.
CAUTION
Axis 3
Each axis is moved independently
at rapid traverse speed.
Positioning operation
Axis 3
Axis 1
Current position
Axis 2
End position
Axis 1
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