YASKAWA MP2100 Series User Manual page 77

(2) Motion Program MPM001
Motion program MPM001 is a text-format program that is started by the MSEE instruction (motion program call
instruction) in the H04 drawing.
In this example, the motion program MPM001 performs a zero point return using the phase C pulse.
EXAMPLE
YESAMPLE PRG. MPM001 MP text
00001 "MPM001";
00002 OW803C=3;
00003 OW80BC=3;
00004 VEL [X]1000 [Y]1000;
00005 ACC[X]100[Y]100;
00006 DCC[X]100[Y]100;
00007 OW803E=100;
00008 OW8040=50;
00009 OL8042=10000;
00010 OW80BE=100;
00011 OW80C0=50;
00012 OL80C2=10000;
00013 ZRN[X]00[Y]00;
00014 END;
(3) Motion Programs MPM002 and MPM003
Motion programs MPM002 and MPM003 are text-format programs that are started by the MSEE instruction
(motion program call instruction) in the H04 drawing.
In this example, motion programs MPM002 and MPM003 perform 2-axis positioning and interpolation.
EXAMPLE
MPM002 has timer commands in between each travel command to provide clear delimits for each opera-
tion. MPM003 is MPM002 without the timer commands, so that the travel commands are executed continu-
ously.
YESAMPLE PRG. MPM002 MP text
00001 "MPM002";
00002 "**** Data settings*****";
00003 VEL [X]1000 [Y]1000;
00004 FMX T50000000;
00005 IAC T500;
00006 IDC T500;
00007 PLN [X][Y];
00008 INC;
00009 TIM T100;
00010 "***** Repetitive operation*****";
00011 DW10 =0;
00012 WHILE DW10 <5;
00013 MOV [X]ML30100 [Y]ML30102;
00014 TIM T100;
00015 MVS [X]ML30110 [Y]ML30112 FML30114; "Linear interpolation command"
00016 TIM T100;
00017 ABS;
00018 MCC [X]0 [Y]0 R1000.0 FML30114; "Circular interpolation command"
00019 TIM T100;
00020 DW10 =DW10 +1;
00021 WEND;
00022 "**** End of repetitive operation*****";
00023 END;
"X axis zero point return method (3: Phase-C)"
"Y axis zero point return method (3: Phase-C)"
"Travel speed for positioning command"
"Acceleration time"
"Deceleration time"
"X axis approach speed (mm/min)"
"X axis creep speed (mm/min)"
"X axis final travel distance (0.001 mm)"
"Y axis approach speed (mm/min)"
"Y axis creep speed (mm/min)"
"Y axis final travel distance (0.001 mm)"
"Zero point return command"
"Travel speed for positioning command"
"Composite speed upper limit for interpolation
command"
"Acceleration time for interpolation command"
"Deceleration time for interpolation command"
"Plane setting for circular interpolation command"
"Incremental mode"
"Number of repeats = 5"
"Positioning command"
"Absolute mode"
3.3 Sample Program 2: Positioning Control
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