YASKAWA MP210 Series User Manual page 157

(b) Motion Program MPM001
The MPM001 motion program uses the Servomotor phase-C pulse to perform home return.
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;
(6) Motion Programs MPM002 and MPM003
Motion programs MPM002 and MPM003 perform positioning, linear interpolation, and circular interpolation
for two axes.
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 follow-
ing figure.
00001 "MPM002";
00002 "Data Setting";
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 "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;
"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 interpolation command"
"Acceleration time setting for interpolation command"
"Deceleration time setting for interpolation command"
"Plane specification for circular interpolation command"
"Increment position command setting"
"No. repeats = 5"
"Absolute positioning command setting"
4.4 Checking Sample Program Operation
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