YASKAWA MP2100 Series User Manual

3.3 Sample Program 2: Positioning Control
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(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.
YESAMPLE PRG. MPM001 MP text
00001 "MPM001";
00002 OW803C=3; “X axis zero point return method (3: Phase-C)”
00003 OW80BC=3; “Y axis zero point return method (3: Phase-C)”
00004 VEL [X]1000 [Y]1000; “Travel speed for positioning command”
00005 ACC[X]100[Y]100; “Acceleration time”
00006 DCC[X]100[Y]100; “Deceleration time”
00007 OW803E=100; “X axis approach speed (mm/min)”
00008 OW8040=50; “X axis creep speed (mm/min)”
00009 OL8042=10000; “X axis final travel distance (0.001 mm)”
00010 OW80BE=100; “Y axis approach speed (mm/min)”
00011 OW80C0=50; “Y axis creep speed (mm/min)”
00012 OL80C2=10000; “Y axis final travel distance (0.001 mm)”
00013 ZRN[X]00[Y]00; “Zero point return command”
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.
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; “Travel speed for positioning command”
00004 FMX T50000000; “Composite speed upper limit for interpolation
command”
00005 IAC T500; “Acceleration time for interpolation command”
00006 IDC T500; “Deceleration time for interpolation command”
00007 PLN [X][Y]; “Plane setting for circular interpolation command”
00008 INC; “Incremental mode”
00009 TIM T100;
00010 “***** Repetitive operation*****”;
00011 DW10 =0;
00012 WHILE DW10 <5; “Number of repeats = 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; “Absolute mode”
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;
EXAMPLE
EXAMPLE

YASKAWA MP2100 Series Specifications

General

Brand	YASKAWA
Model	MP2100 Series
Category	Controller
Language	English