YASKAWA MP2300 - Page 131

4.4
Checking Sample Program Operation
4-57
4
System Startup and Sample Programs
[ b ] Motion Program MPM001
The MPM001 motion program uses the Servomotor phase-C pulse to perform home return.
00001 "MPM001";
00002 OW803C=3; "X axis home return method selection (3: Phase C)"
00003 OW80BC=3; "Y axis home return type selection (3: Phase C)"
00004 VEL [X]1000 [Y]1000; "Travel speed setting for positioning command"
00005 ACC[X]100[Y]100; "Acceleration time setting"
00006 DCC[X]100[Y]100; "Deceleration time setting"
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 speed (0.001 mm)"
00013 ZRN[X]00[Y]00; "Home return command"
00014 END;
( 6 ) 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 "MPM002";
00002 "Data Setting";
00003 VEL [X]1000 [Y]1000; "Travel speed setting for positioning command"
00004 FMX T50000000; "Composite speed upper limit setting for interpolation command"
00005 IAC T500; "Acceleration time setting for interpolation command"
00006 IDC T500; "Deceleration time setting for interpolation command"
00007 PLN [X][Y]; "Plane specification for circular interpolation command"
00008 INC; "Increment position command setting"
00009 TIM T100;
00010 "Repeat Operation"
00011 DW10 =0;
00012 WHILE DW10
<
5; "No. 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 positioning command setting"
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;