YASKAWA SVC - Page 334

4.5 Motion Language Instructions
4-191
4
Motion Control Program Commands and Instructions
Axis
Move-
ment
MCW
Clockwise
Helical Inter-
polation
Center Position Designation
MCW [Logical_axis_name_1]
End_position
[Logical_axis_name_2]
End_position
Ucenter_point_position
Vcenter_point_position
[Logical_axis_name_3]
End_position_for_linear_in-
terpolation
Tnumber_of_turns Finterpo-
lation_feed_speed;
Moves three axes simultane-
ously with a combination of cir-
cular interpolation and linear
interpolation outside the circu-
lar interpolation plane. Speed F
is the circular interpolation tan-
gential speed.
The number of turns can be
specified after “T” if the center
point coordinate is specified.
(“T” can be omitted.)
Radius Designation
MCW [Logical_axis_name_1]
End_position
[Logical_axis_name_2]
End_position
Rradius
[Logical_axis_name_3]
End_position_for_linear_in-
terpolation
Finterpolation_feed_speed;
MCC
Counterclock-
wise Helical
Interpolation
Center Position Designation
MCC [Logical_axis_name_1]
End_position
[Logical_axis_name_2]
End_position
Ucenter_point_position
Vcenter_point_position
[Logical_axis_name_3]
End_position_for_linear_in-
terpolation
Tnumber_of_turns Finterpo-
lation_feed_speed;
Radius Designation
MCC [Logical_axis_name_1]
End_position
[Logical_axis_name_2]
End_position
Rradius
[Logical_axis_name_3]
End_position_for_linear_in-
terpolation
Finterpolation_feed_speed;
ZRN
Zero Point
Return
ZRN [Logical_axis_name_1]0
[Logical_axis_name_2]0
[Logical_axis_name_3]0 ...;
Returns each axis to its origin.
DEN
Position after
Distribution
MOV [Logical_axis_name_1] Refer-
ence_position
[Logical_axis_name_2] Refer-
ence_position
[Logical_axis_name_3] Refer-
ence_position ... DEN;
Performs positioning to the
next block after distribution is
completed without waiting for
a Positioning Completed sig-
nal.
SKP Skip Function
SKP [Logical_axis_name_1] Refer-
ence_position
[Logical_axis_name_2] Refer-
ence_position
[Logical_axis_name_3] Refer-
ence_position ...
Finterpolation_feed_speed
SSskip_input_signal_selection;
If the SKIP signal turns ON
during a linear interpolation
operation, the remaining move-
ment is skipped and operation
proceeds to the next block.
Continued on next page.
Continued from previous page.
Instruc-
tion
Type
Instruc-
tion
Name Format Description