YASKAWA JEPMC-MP2300-Y Series User Manual page 91

[ b ] Motion Program MPM001
The MPM001 motion program uses the Servomotor phase-C pulse to perform home return.
[ c ] Motion Programs MPM002 and MPM003
Motion programs MPM002 and MPM003 perform positioning, linear interpolation, and circular
interpolation for axis 2.
MPM002 inserts a timer command between each travel command to indicate operation divisions.
MPM003 continuously executes travel commands, without the timer commands of MPM002, as
shown in the following figure.
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;
00001 "MPM002";
00002 "Data Setting";
00003 VEL [X]1000 [Y]1000;
00004 FMX T50000000;
tion command"
00005 IAC T500;
mand"
00006 IDC T500;
mand"
00007 PLN [X][Y];
mand"
00008 INC;
00009 TIM T100;
00010 "Repeat Operation"
00011 DW10 =0;
00012 WHILE DW10 <5;
00013 MOV [X]ML30100 [Y]ML30102 ; "Positioning command"
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 Repeat Operation";
00023 END;
2.2 Checking Sample Program Operation
"X axis home return method selection (3: Phase C)"
"Y axis home return type selection (3: Phase C)"
"Travel speed setting for positioning command"
"Acceleration time setting"
"Deceleration time setting"
"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 speed (0.001 mm)"
"Home return command"
"Travel speed setting for positioning command"
"Composite speed upper limit setting for interpola-
"Acceleration time setting for interpolation com-
"Deceleration time setting for interpolation com-
"Plane specification for circular interpolation com-
"Increment position command setting"
"No. repeats = 5"
"Absolute positioning command setting"
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