Yaskawa MotionSuite Series Machine Controller Programming Manual

MotionSuite™ Series Machine Controller

Programming Manual

MotionSuite ™ Series Machine Controller Programming Manual Table of Contents /P reface

1 Motion Programming Outline........................................................................... ........ 1-1

1.1 What is a Motion Program .................................................................................. 1-2

1.1.1 Capabilities of Motion Programs ...............................................................1-2

1.1.2 Basic P rog ram Str u ct u re ......... .................. ................... ........................ ...... 1-3

1.1.3 Function Performance List ......................................................................... 1-5

1.1.4 Motion P ro g ram Star t ............... .................. ......................... .................. .... 1-6

1.1.5 Parallel Program Operation ....................................................................... 1-7

1.1.6 Program Editor ..........................................................................................1-7

1.2 Motion Programming Method ....................................... .......... .......... .......... .......1-9

1.2.1 Input Format .............................................................................................. 1-9

1.2.2 Con trol Axes .................... .............. ................... .............. .................... .....1-15

1.2.3 Feed Sp ee d ...... ...... .................. ......................... .................. .................. .... 1-21

1.2.4 Motion Co m m a n d Li st .............. .................. ......................... .................. .. 1-26

2 Motio n Co m m a n d s ................ .............. .................... ............. .................... .............. .2-1

2.1 Axial Motion Commands .................................................................................... 2-2

2.1.1 Positi o n i n g (MOV) ......................... ......................... .................. ................ 2-2

2.1.2 Linear Interpolation (MVS) ....................................................................... 2-7

2.1.3 Circul ar Inter p o l ation (MC W , MCC) .............. ........................ ................ 2-11

2.1.4 Helical Interpolation (MCW, MCC) ........................................................ 2-19

2.1.5 Ze ro-po i n t Re tur n (ZRN) . ...... .................. ......................... .................. .... 2-22

2.1.6 Skip Command (SKP) ............................................................................. 2-28

2.1.7 Time Designation Positioning (MVT) ..................................................... 2-29

2.1.8 External Positioning (EXM) .................................................................... 2-31

2.2 Con trol Comm a n d ................ .................. ......................... .................. ................ 2-32

2.2.1 Absolute (ABS) Mode ............................................................................. 2-32

2.2.2 Incremental (INC) Mode ......................................................................... 2-34

2.2.3 Current Value Change (POS) .................................................................. 2-36

2.2.4 Coordinate Plane Designation (PLN) ...................................................... 2-39

2.2.5 Machin e Co o r d in ate Comma n d ( MV M) ...... ......................... .................. 2-40

2.2.6 Program Current Position Update (PLD) ................................................. 2-42

2.2.7 Timed Wait (TIM) ................................................................................... 2-43

2.2.8 Program End (END ) ......... .................. ......................... .................. .......... 2-44

3 Advanc e d P ro g r a m m ing .................... ........................ ................... .................. .......... 3-1

3.1 Ad v an c e d Co n t rol Comman d s ... .................. ......................... .................. ............ 3-2

3.1.1 In-Pos ition Check (PFN) Co m m a n d ........... ................... ........................ .... 3-2

3.1.2 Second In-Position Check (INP) Command . ............................................. 3-5

3.1.3 Ignore Single Block (SNG) Command ...................................................... 3-7

3.1.4 User Function Call-out (UFC) Command ................................................. 3-8

3.1.5 I/O Vari ab le Wait (IOW) Co mmand ........ ................... .................. .......... 3-17

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MotionSuite ™ Series Machine Controller Programming Manual Table of Contents /P reface

3.1.6 Sub-p rog ram Call -o u t (MSEE) Co m m a n d ........................ ...................... 3-18

3.1.7 Sub-program End (RET) Command ........................................................ 3-19

3.1.8 1-scan Wait (EOX) Command ................................................................. 3-20

3.1.9 Branc h (IF ELSE IEND ) Command ..... ...... ................... ........................ .. 3-22

3.1.10 Re p e at (W H I LE WEND ) Co m m a n d ........................... ........................ .... 3-24

3.1.11 Parallel Execution (PFORK, JOINTO, PJOINT) Command .................. 3-26

3.1.12 Selec ti v e Execut i o n (S FORK, JOIN TO, SJOI N T) Comman d ................ 3-31

3.2 Speed/Acceleration Commands ........................................................................ 3-34

3.2.1 A cc e l e r a t i o n Time Change (ACC) Co m mand ........ .............. ...................3-34

3.2.2 S-Curve Time Constant Change (SCC) Command .................................3-36

3.2.3 Feed Sp ee d Ch an g e (V EL) Comm a n d ...... ................... .................. .......... 3-38

3.2.4 Interpolation Feed Speed Ratio Setting (IFP) Command ........................ 3-40

3.2.5 Maximum Interpolation Feed Speed Setting (FMX) Command ............. 3-42

3.2.6 Interpolation Acceleration Time Change (IAC) Command .................... 3-44

3.2.7 Interpolation Deceleration Time Change (IDC) Command .................... 3-46

4 Sequence Commands ................................................................................................4-1

4.1 Se q u e n ce Co m m a n d O u tli n e ................. ................... .................. ........................ 3-2

4.1.1 Calculation Commands .............................................................................. 4-2

4.1.2 Arithmetic Calculation Combination ......................................................... 4-4

4.1.3 Logical Calculation Combination .............................................................. 4-5

4.2 Aritmetic Calculations.........................................................................................4-6

4.2.1 Substitution (=) .........................................................................................4-6

4.2.2 Addition (+) ............................................................................................... 4-7

4.2.3 Subtraction (–) ........................................................................................... 4-8

4.2.4 Multipl icatio n (* ) ...................... .................. ................... ........................ .... 4-9

4.2.5 D i v i sion (/) ...... ...... ........................ ................... .................. ...................... 4-10

4.2.6 Remainder (MOD) ................................................................................... 4-11

4.3 Logical Calculations..........................................................................................4-12

4.3.1 Lo g i c a l OR (| ) .......................... .............. ................... .............. .................4-12

4.3.2 Logical AND (&) ..................................................................................... 4-13

4.3.3 Exclusive OR (^) ......................................................................................4-14

4.3.4 N O T (!) ................ .............. .................... ............. .................... .............. ...4-15

4.4 Value Comparisons............................................................................................4-16

4.4.1 V alue Comp a ri son Comma n d ( = =, < >, > , < , >= , <=) .......................... .4-16

4.5 Data Oper at io n s .................. .................. .................. ......................... .................. 4-18

4.5.1 Bit Right-shift (SFR) Co m m a n d ........... ................... .................. .............. 4-18

4.5.2 Bit Left-shift (SFL) Command ................................................................ 4-20

4.5.3 Block Transfer (BLK) .............................................................................. 4-22

4.5.4 Clear (CLR) ............................................................................................. 4-24

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MotionSuite ™ Series Machine Controller Programming Manual Table of Contents /P reface

4.6 Basi c F u n c t i o n s................ .............. .................... ............. .................... .............. .4-26

4.6.1 Sine (SIN) ................................................................................................4-26

4.6.2 Cosine (COS) ........................ .................. ................... ........................ ...... 4-28

4.6.3 Tangent (TAN) ........................................................................................4-30

4.6.4 Arc Sine (ASN) ........................................................................................4-31

4.6.5 A rc Cosine (ACS) ........... ........................ ................... .................. ............ 4-32

4.6.6 A rc Tangent (ATN) ...... .................. ................... ........................ .............. 4-33

4.6.7 Square Ro o t (S Q T) ................... ......................... .................. .................. .. 4-35

4.6.8 BCD→BIN (BI N ) ......................... ................... .................. ...................... 4-37

4.6.9 BIN→BCD (BCD) ............ ........................ ................... .................. .......... 4-38

4.6.10 Desig n at e d Bi t ON (S{ }) ... ........................ ................... .................. ........ 4-39

4.6.11 Designated Bit OFF (R{ }) ...................................................................... 4-40

5 Varia b l e s (Regist ers) .................. .................. ................... ........................ .................. 5-1

5.1 Outline ................................................................................................................. 5-2

5.1.1 V ariabl e O v e r v iew ........ .................. ................... .................. ...................... 5-2

5.1.2 G l o b a l a n d Lo ca l V ariable s .............. ......................... .................. .............. 5-4

5.2 Ho w to U se the Variables .......................... ................... ........................ .............. 5-8

5.2.1 Syste m Variable s .............. .................. ................... ........................ ............ 5-8

5.2.2 Data Variables (M Registers) .................................................................... 5-9

5.2.3 Input Variables (I registers) ..................................................................... 5-10

5.2.4 O u t p u t V a riables (O Re g i sters) ............... ......................... .................. ...... 5-12

5.2.5 Constant Variables (C Registers) ............................................................. 5-13

5.2.6 D V ariable s (D Regist e rs) ................... ................... ........................ .......... 5-14

iii

MotionSuite ™ Series Machine Controller Programming Manual Table of Contents /P reface

Outline of Manual

!

This manual is a collection of data regarding the design and maintenance of the Motion­Suite™ series machine controller. The following items are included in this manual:

• Product outline, specifications and programming methods

• Basic programming

• Advanced programming

!

Read this manual thoroughly so as to ensure proper use of the controller. Furthermore,
store this manual properly so that it can be referenced whenever necessary .

Related Manuals

!

Related manuals are shown in the following table.

!

Use this product with full knowledge of the product specifications, usage limits, etc.

Document Name Document Number Content

MP930 Machine Controller
Hardware Manual

MP930 Machine Controller
Ladder Programming

MotionSuite™ Seri es Machine
Controller Software Manual

• YEA-SIA-C887-1.1 B Describes in detail the functions, specifica­tions and usage methods of the MP930

• Functions/Specifications

• Setup procedures, etc .

• SIEZ-C887-1.2 Describes in detail the operation co mmands
used in MP930 ladder program m ing

• YEA-SIA-C887-1.4B Descri bes in detail the process control com­mands used in MotionWorks™ software

iv

MotionSuite ™ Series Machine Controller Programming Manual Table of Contents /P reface

Using this Manual

!

Users of this manual
This manual is to be used by the following personnel:

• Persons designing MotionSuite™ systems

• Persons writing MotionSuite™ motion programs

!

Abbreviations
The following abbreviations are used in this manual:

• MC Unit: MC unit used is the MotionSuite™ motion controller

• I/O Unit: I/O unit used is the I/O expansion module (model: JEPMC-IO350)

• PP: Programming Panel

• PC: Personal Computer

v

MotionSuite ™ Series Machine Controller Programming Manual Table of Contents /P reface

Safety Notes

This chapter deals with the cautionary items regarding the safe and proper use of this
device. Be sure to thoroughly read the directions in this manual and all associated
materials prior to mounting, running, storage/inspection, and then execute the contents
of these manuals correctly. Use the MotionSuite™ series machine controller after
thorough study of all device data, safety information, and cautionary items.

Cautions on Usage

!!!!

!

During programming of the following axi s motion commands, be sur e to che ck the move path to make

•

sure that the tool does not interfere with the work.

Commands requiring such checks:

• Positioning (MOV) commands

• Linear Interpolation (MVS) commands

• Ci r cular Interpol ation (MCC, MCW) commands

• He lical Interpolation (MCC, MCW) commands

• Time Designated Positioning (MVT) commands

• Skip (SKP) commands

CAUTION

Example

axis2

axis3

axis2

Each axis is moving independent ly
by feed speed

axis3

Positioning motion

Current position

End position

axis1

axis1

Move Path Based on the MOV Command

Forgetti ng this check may result in tool dam age , or bodily injury.

vi

MotionSuite ™ Series Machine Controller Programming Manual Table of Contents /P reface

!

• I f the f o ll owing co m m a nd s are erroneously designat ed , the subsequ en t mo tio n o peratio n w il l b e co m ­pletely incorrect. V erify prior to running that these commands have been correctly designated

The following commands require such checks:

CAUTION

• Absolute mode (ABS)

• Incremental mode (INC)

• Current value change (POS)

• Machine coordinate designation (MVM)

Example

axis2

axis2

(0,0)

Y

axis1

Work coordinate

Current pos ition

axis2

axis1

(0,0)

POS Command (current value change)

Forgetti ng this step may result in tool damage, or bodily injury.

vii

axis1

MotionSuite ™ Series Machine Controller Programming Manual Table of Contents /P reface

!

! General Cautionary Items

!!

Cautions During Use

• The MotionSuite™ was n either designed nor manufactured for use in devices or systems under such critical
conditions as fol low: Transporta tion s yst ems, m edic al dev ices, aeros pace, nu cl ear powe r contro l, submari ne
relay devices, etc . Please contact Yaskaw a whe n cons idering any such special application.

• Although the MotionSui te™ is manufa cture d unde r rigorous qualit y con trol, pu t in pl ace sa fety appara tus s o
that a major accident c annot occur when apply ing the Moti onSuit e™ in an insta ll ation where the occurre nce
of major facilities damage or serious, life-threatening injury is anticipated due to the fai lure of the Motion­Suite™.

• The pictures and diagrams in this manual are representative examples, and may differ from the product
received.

• These manuals may be changed as needed due to product improvements, specification change, or for
improvement in ease of use of the manual.

• These changes are made following updating of the document number of the manual, and its issua nce as a
revised edition. The publication number of the re vised edition is written on the manual cover.

• When ordering new manuals due to damage or loss, contact a Yaskawa dealer or the nearest Yaskawa corpo­rate office li s ted on the cover, and give the document number.

• If the nameplate mounted on the product becomes illegible or damaged, order another nameplate from a
Yaskawa dealer or Yaskawa cor po r a te offic e li s t ed on th e co v e r.

• Any product modified by the custome r fall beyond Yaskawa’s product warranty . Yaskawa shoulder s no
responsibility for any injury or damage resulting from modified products.

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MotionSuite ™ Series Machine Controller Programming Manual Chapter 1: Motion Programmming Outline

1 Motion Programming Ou tline

This chapter deals with the methods of creating motion programs. Motion pro­grams are created using MotionWorks™ (Programming Unit); the programs are
executed after transfer to the MotionSuite™ series machine controller.

1.1 What is a Motion Program .................................................................................. 1-2

1.1.1 Capabilities of Motion Programs ...............................................................1-2

1.1.2 Basic P rog ram Str u ct u re ......... .................. ................... ........................ ...... 1-3

1.1.3 Function Performance List ......................................................................... 1-5

1.1.4 Motion P ro g ram Star t ............... .................. ......................... .................. .... 1-6

1.1.5 Parallel Program Operation ....................................................................... 1-7

1.1.6 Program Editor ..........................................................................................1-7

1.2 Motion Programming Method ....................................... .......... .......... .......... .......1-9

1.2.1 Input Format .............................................................................................. 1-9

1.2.2 Con trol Axes ........ .................... .............. ................... .................... ...........1-15

1.2.3 Feed Sp ee d ...... ...... .................. ......................... .................. .................. .... 1-21

1.2.4 Motion Co m m a n d Li st .............. .................. ......................... .................. .. 1-26

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MotionSuite ™ Series Machine Controller Programming Manual Chapter 1: Motion Programmming Outline

1.1 What is a Motion Program?

A general description of motion programming is presented in this chapter. Be sure to read
this section before doing any programming.

1.1.1 Capabilit ies of Motion Programs

Using MotionSuite™, it is possible to program the specific motions necessary for
industrial machines. The main characteristics of motion progr ams are provi ded below
for reference:

Motion Program MPM001

PFORK S1, S2, S3, S4

S1

S2

S3

S4

S5: PJOINT

Ladder Program

MSEE MP M001 DA0000

MSEE MP M002 DA0002

MSEE MP M003 DA0004

MSEE MP M004 DA0006

Motion Program

Motion Pro gram

Motion Pro gram

Motion Pro gram

Motion Pro gram

MPM001

MPM002

MPM003

MPM004

Parallel Operation 1

• A maxi mum of fou r pro grams c an be operat ed in par allel
using the PFORK command within a si ngle motion pro­gram.

• Axes may be freely combined in up to four groups.

Machine

Simultaneous Control of
Multiple Machines

MC-1

MC-2

• Several prog rams can be op e r at ed in
parallel.

• A maximum of 14 axes can be con­trolled.

MC-3

MC-4

Maximum 14
axes simultaneo u s
positioning

Maximum 14
axes simultaneo u s
linear interpolation

2 axes
simultaneous
circular interpolation

Enhanced Motion Commands

• Positionin g 14 axes maximum

• Linear Interpolation 14 axes maximum

• Circular Interpolation 2 axes

• Helical Interpolation 3 axes

1-2

MotionSuite ™ Series Machine Controller Programming Manual Chapter 1: Motion Programmming Outline

Example of Operation Com ma nds:

MW81D=AB01H*SIN(100)+50;
MW5=BCD (1W0001);
IF CF476 <> DF897;
IF MW0001 > 7;
IF 0B0 == 1;
0B0 = (IB0 | IB2 | IB3) & 1B1;
MW6 = SQT (MW809);

Conditional Branching Commands

IF <Conditional>

•

• Processed when conditions established

•

•

ELSE

•

• Processed when conditions not established

•

•

IEND

Repeat Commands

WHILE <Conditional>

•

• Processing

•

•

WEND

Calculations are Flexible and Dependable

• Integer arithmetic operations

• Real number arithmetic opera tions

• Logical operations

• Trigonometric operations

• Exponents

• Logarithms

•etc.

Control Commands

• Conditional branching comm ands (IF /ELSE)

• Repeat commands (WHILE)

• Timer commands (TIM )

• Subroutines (MSEE)

• Parallel execution com mands (PFORK)

• Selection execution commands (SFORK)

1.1.2 Basic Program Structure

a. Motion programs are written in a text format motion language. Up to 256 of

these motion programs can be created separately.

b. Motion programs are of the following two types: Main programs (MPM

which can be called out from DWG.H, and sub-programs (MPS
can be called out from the main program.

Important Point

Numbers of the MPM and MPS programs cannot be duplicated.

1-3

"""

"""

) which

)

MotionSuite ™ Series Machine Controller Programming Manual Chapter 1: Motion Programmming Outline

Motion Program Types

Classification

Designation

Method

Main Program MPM"""

1~256

Sub-Program MPS"""

1~256

c. Motion Program Execution Processing Format

Always refer to the motion program from the H drawing by using the MSEE
command. H drawings can be referenced from source drawings, sub-drawings,
or sub-sub-drawings.

System program starts by

operating conditions

Source Drawing

DWG.H

SEE H.01

Characteristics

Number of Programs

Can be called out from an H drawing A maximum of 256 combined

main programs and sub-programs

Can be called out from a main program

Sub-drawing

DWG.H01

SEE H01.01

Sub-sub-drawing

DWG.H01.01

MSEE MPM001

DEND

can be created.

Motion Program

MPM001

VEL [a1]5000 [b 1]..
FMX T100000000;
IAC T25;
IDC T30;
MOV [a1]300. [b1]..
MVS [a1 ]20 0. [b1]..

•

•

END

MPM002

MSEE MP M0 0 2

DEND

END

MPM003

MSEE MPM003

MSEE MPS001

END

DEND

Subroutine

MPS001

RET

Figure 1.1: Motion Program Execution Processing Format

Supplement

See Section 3.4 “User Programs” in the MP930 Machine Controller Hardware Man­ual for details regarding this figure.

1-4

MotionSuite ™ Series Machine Controller Programming Manual Chapter 1: Motion Programmming Outline

1.1.3 Function Performance List

The MP9xx motion program function specifications are as follows:

MP9xx Motion Control Function Specifications

Item Specifications

Number of Control Axes 1~14 maximum

Position Control Linear, rotational, unlimited, independent axis
Interpolation Linear: 14 axes, Circular: 2 axes, Helical: 3 axes
Speed Control None

Specs

Control

Torque Limit Limited (torque limit set by parameters only)
Command Unit mm, inch, deg, pulse
Minimum Command Setti ng Unit 1, 0.1, 0.01, 0.001, 0.0001, 0.00001
Maximum Command Value -2147483648~+2147483647 (with 32-bit symbols)
Speed Command Unit mm/min, inch/min, deg/mi n, pulse/min
Accel/Decel Type Linear, S-curve, separate accel/decel
Override Functions Positioning: 0.01~100.00% of axis uni t

Interpolation: 0.01~100.00% of group unit
Coordinates Cartesian Coordinates
Zero-Point Return 4 Types:

Torque+C-phase, zero-point LS, torque+zero-point LS, C-phase

There is a zero-point setting function

Language Dedicated motion language
Number of Tasks A maximum of four programs can be simultaneously execut ed in parallel.
Number of Programs 256 maximum

Programs

Program Volume 80 Kbytes (characters)

(Adjustable by the volume of ladder progra m used: 100 Kbyte maximum)
Applied Servo Amplifier SGD-"""N/SGDB-""AN
Encoder Incremental/Absolute
Command Language Axis Motion Commands : 8 types

MOV, MVS, MCW , MCC, ZRN, SKP, MVT, EXM

Basic Control Commands : 5 types

ABS, INC, POS, PLN, MVM

Speed/ Accel/D ecel Commands : 7 types

ACC, SCC, VEL, I A C, IDC, IFP, FMX

Advanced Control Commands : 4 types

PFN, INP, SNG, UFC

Control Commands : 9 types

MSEE, TIM, IOW, END, RET, IF ELSE IEND, WHILE WEND,
PFORK JOINTO PJOINT, SFORK JOINTO SJOINT

Operation/Sequence Control Commands : 36 types

=, +, -, *, /, MOD, |, ^, &, !, (), S{}, R{}, SIN, COS, TAN, ASN, ACS,
ATN, SQRT, BIN, BCD, ==, <>, >, <, >=, <=, TON, TOF, SFR, SFL,
PON, NON, BLK, CLR

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MotionSuite ™ Series Machine Controller Programming Manual Chapter 1: Motion Programmming Outline

1.1.4 Motion Program Start

The motion program is started from an “H” drawing ladder program. Start is initiated
by motion program start commands (MSEE) from within the ladder program and a
low to high transition of the program run start request bit. Motion programs are desig­nated directly by the program number and indirectly by the register number containing
the program number.

ABS;
MOV X_Y_

MVS X_Y_F

MSEE MPM001 DA0000

IOW MB0001
MOV X_Y_

•

•

Ladder Program

Motion Control Program

Figure 1.2: Motion Program Start by Direct Designation

ABS;

•

MOV X_Y_
MVS X_Y_F

MSEE MW00200 DA0000

MPM Number is in MW00200

Ladder Program Motion Contro l Pr ogram

IOW MB0001
MOV X_Y_

•

Figure 1.3: Motion Program Start by Indirect Designation

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MotionSuite ™ Series Machine Controller Programming Manual Chapter 1: Motion Programmming Outline

1.1.5 Parallel Program Operation

With MP9xx, it is possible to program freely with various machine activities, due to
capabilities for parallel running that make complex motion control possible. Parallel
running of motion programs is available in the two following forms.

a. With motion program PFORK commands, parallel running of a maximum of 4

programs within 1 program is possible.

Motion Program MPM001

PFORK S1, S2, S3, S4

S1

S2

S3

S4

S5: PJ O INT

b. With ladder program MSEE commands, parallel running of multiple motion pro-

grams is possible. (When automatically generated with MotionWorks™ group
setting display , parallel running of a maximum of 4 programs is possible.)

Ladder Program

Motion Program

MSEE MPM 00 1 DA 00 00

MSEE MPM 00 2 DA 00 02

MSEE MPM 00 3 DA 00 04

MSEE MPM 00 4 DA 00 06

Motion Program

Motion Program

Motion Program

MPM001

MPM002

MPM003

MPM004

Parallel Operation 1

• A maximum of four (4) programs can be operated i n par­allel us ing the PFORK command within a single motion
program. The PFORK command must be ended with the
PJOINT command.

Parallel Operation 2

• Several programs can be operated in parallel
by using the ladder program MSEE com­mand.

1.1.6 Program Editor

The motion program editor is generated on the MotionWorks™ (programming device)
motion program editor display. The editing display contains the following functions.

a. The same functions as the text editor, such as cut & paste, look-up, replace, and

jump

b. Special functions such as debugging operations and program instruction moni-

toring

c. Function for importing and reading text editor files

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MotionSuite ™ Series Machine Controller Programming Manual Chapter 1: Motion Programmming Outline

d. Function for writing and exporting motion program files as text files.

Figure 1.4: MotionWorks™ Motion Program Editor Display

Supplement

For motion program editor function details, please refer to the MotionSuite™ Series
Machine Controller Software Manual.

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MotionSuite ™ Series Machine Controller Programming Manual Chapter 1: Motion Programmming Outline

1.2 Motion Programming Method

This section deals with the basic rules for creating motion programs. Read this section
thoroughly prior to program execution.

1.2.1 Input Format
! Motion Program Sample

Motion programs are created in variable-length block format.

Program Sample

Block Number Program

00001 MPM001"sample” ...Program number and comment
00002 FMX=T1000000; ...Interpol ation feed high-speed setting
00003 IAC=T100; ...Interpolation feed accelerat ion time setting
00004 IDC=T100; ...Interpolation feed deceleration time setting
00005 VEL [X1]10000 [Y1]2000 [Z1]3000; ...Feed speed sett ing
00006 INC; ...Increment al mode command
00007 MOV [X1]100.[Y1]150.[Z1]200 .; ...Fas t feed
00008 MVS [X1]100.[Y1]50.F500000; ...Linear interpolation
00009 IOW IW0011=1; ...
00010 MW0100=(MW0110*100+50)/100; ...
00011 MW0200=(MW0210*100+50)/100; ...
00012 ABS; ...
00013 MOV [X1]MW0100 [Y1]MW0200; ...
00014 POS [X1]0 [Y1]0 ...
00015 PFORK LA01, LA02, LA03, LA04 ...Parallel operation command
00016 LA01: INC; ...Label
00017 MOV [X1]1000.; ...
00018 JOINTO LA05; ...
00019 LA02: INC; ...
00020 MOV [X1]2000.; ...
00021 JOINTO LA05; ...
00022 LA03: ABS; ...
00023 MV S[Z1]1500 F50000; ...
00024 MW1000=12345; ...
00025 JOINTO LA05; ...
00026 LA04: MW1100=1000; ...
00027 IOW IB101==1; ...
00028 JOINTO LA05; ...
00029 LA05:PJOINT ...Closes paral lel operation command
00030 END; ...Closes program

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MotionSuite ™ Series Machine Controller Programming Manual Chapter 1: Motion Programmming Outline

! Input Format

The variable length input formats are as given in the following table:

Variable Input Format List

Item Input Format

Program Number MPM
Label 8 char acters maximum
Motion Commands 3 alphabetical characters (some commands are other than 3 letters)
Coordinate

Language

Interpolation Fee d
Speed

Wait Time TIM T1000 10 msec units (no fractions)
Sub-program Number MPS
P Designation P100; Interpolation feed spee d ratio setting 1~100
Close Block ;

""" """

[abcd

] ± 123,456

AB C
A: Axis Name
B: Pos/Neg design ation possible
C: See Item 1.2.2 “Control Axes” for details on coordinates

F3000000
Changes accordin g to the number of places below the decim al point. (set paramete r)

3000.000mm/min when numb er of places below decimal poi nt =3

30.00000mm/min when numb er of places below decimal poi nt =5

""" """

= 1~256

= 1~256

! Leading Zero

Numbers following the characters, including program numbers and register (variable)
numbers, can omit the leading zero.

Example

[X1]00123
[X1]MW00010
MPS002

! +/- Symbol

Although the plus sign may be omitted from numbers, the negative sign may not be
omitted.

Example

[X1]00123
[X1]-123

Supplement

Decimal places cannot be used in the interpolation feed speed (Fxxxx) command.
F30000.000 is not possible; enter it as F30000000.

⇒

[X1]123

⇒

[X1]MW100

⇒

MPS2

⇒

[X1]123

⇒

[X1]-123

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MotionSuite ™ Series Machine Controller Programming Manual Chapter 1: Motion Programmming Outline

! Usable Characters

The usable characters and their meanings are given in the following table.

Usable Character List

Character Meaning

CC register
DD register

II register

MM register

OO register

SS register
F Interpolation feed speed
P Interpolation feed speed override

R Circular radius

SS Step signal number

T Timer value, number of circle turns, FMX, IAC, IDC
U Cir cular midpoint coordinate 1 (horizontal)
V Cir cular midpoint coordinate 2 (vertical)

MPS Sub-program number

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MotionSuite ™ Series Machine Controller Programming Manual Chapter 1: Motion Programmming Outline

! Function Characters

The function characters and their meanings are given in the following table.

Function Character List

Character Meaning

SP Space

TAB Tab

; End of block

ENTER

0~9 numbers

A~Z Alphabet

. Decimal point

+ Operation

- Operation
* Operation

/ Operation
| Operation

^ Operation

& Operation

! Operation
= Operation
() Operation

== Operation

> Operation
< Operation

<> Operation
>= Operation
<= Operation

S {} Operation

R {} Operation

——

Changes row

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MotionSuite ™ Series Machine Controller Programming Manual Chapter 1: Motion Programmming Outline

! Program Number Hand ling

The program number is a number for the purpose of program discrimination. There
are two kinds of programs: Main programs and sub-programs. The numbers 1~256
may be applied to each.

!

Main Programs

"""

MPM

Program number (1~256)

!

Sub-programs

"""

MPS

Program number (1~256)

Figure 1.5: Motion Program File Names

Supplemental It em

(1) The same number cannot be designated for both main programs and sub-programs.
(2) Up to 256 programs of the Main program and Subprogram combined can be

created.

! Comment Writing

It is possible to write comments within the program. These comments are saved
within the controller. There are two ways to create a comment, as follows:

1. Surrounding a comment statement with quotation marks.
“Character string”

Example

ZRN [AXIS1]0 [AXIS2]0 [AXIS3]0; “Zero return all axes”
MVS [AXIS1]100.0 [AXIS2]200.0 [AXIS3]3 00.0; “Three axis linear int erpolation”

2. All characters following the first quotation mark in a line become comments
without surrounding the line in quotation marks if
“Character string

Example

“Move to the wait machine position by linear interpolation after all axi s zero point return
ZRN [AXIS1]0 [AXIS2]0 [AXIS3]0;
MVS [AXIS1]100.0 [AXIS2]200.0 [AXIS3]3 00.0;

ENTER

ENTER

is pressed.

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MotionSuite ™ Series Machine Controller Programming Manual Chapter 1: Motion Programmming Outline

! Creation of One-Block Commands

a. A one-block command is made according to the input format list. A representa-

tive example of a single block is shown below.

LABEL: MVS [X1] 20.0 [Y1] 30.0 [Z1] 40.0 F300000 ; “ Comment”

End of block

Coordinate Language
Axis coordinate value and amount

of axial incremen tal moti o n

Motion Command
Designates motion operation type and con­trol type.

Label
Label to be bran ched t o when us i ng paral lel
execution or selected execution commands

Interpolation fe ed s pee d

.

b. Always be sure to insert a space [SP] between the motion command and the

coordinate language.

c. Although there is no restriction on the number of characters in a single line of a

single block, we recommend that the number of characters be kept to within a
range that can be displayed on-screen for the sake of program viewability.

d. A [;] is needed any time that a block is completed.
e. The label is used as the target block for the parallel execution command

(PFORK) or selection execution command (SFORK).

! Label

A label must be us ed for the parallel execution command (PFORK) or selection execu­tion command (SFORK). Attach a colon [:] to the end of a 1~8 character string of
alphanumeric characters or symbols. The characters that can be used in a label are
shown below. The first character in a label must be alphabetical.

Numbers 0~9
Letters A~Z, a~z

Symbols $, %, ¥, @,—, _, .

Characters

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MotionSuite ™ Series Machine Controller Programming Manual Chapter 1: Motion Programmming Outline

Example

PFORK LAB1, LAB2

LAB1: ZRN [AXIS1]0 [AXIS2]0 [AXIS3]0;

JOINTO LAB3

LAB2: MVS [AXIS1]100.0 [AXIS2]200.0 [AXIS3]300.0;

JOINTO LAB3

LAB3: PJOINT

Important Point

1. The error “Duplicate Label Defined” results if the same label is used multiple
times within a program.

2. An error results in the number of PFORK branches if the number of labels dif­fers.

1.2.2 Control Axes
Axis Names

!

It is possible to set a desired axis name of up to eight characters. The axis names are
set in the Group Definitions Screen in MotionWorks ™. The characters that can be
used in a name, as well as the default axis names, are given below.

Usable Characters 0~9, A~Z, a~z
Axis Name Examples [AXIS1] [X1] [CONV1]
Default Axis Names If fou r axes are designated: [A1] [B1] [C1] [D1]

If eight axes are designat ed:
[A1] [B1] [C1] [D1] [E1] [F1] [G1] [H1]

Supplement

1. Always be sure to enclose axis names written in 1 ~ 8 alphanumeric characters
within [ ].

2. The same axis name cannot be set into multiple axes.

3. An error results if an axis name is designated in the motion program different
from the axis name set in the Group Definition Screen.

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MotionSuite ™ Series Machine Controller Programming Manual Chapter 1: Motion Programmming Outline

! Coordinate Language List

The motion amount and coordinate values attached to the axis name are called “coor­dinate language” in this book. The meanings of the coordinate language used in this
system are shown in the table below.

Coordinate La nguage Designatio n Method Meaning

Axis Name [X1], [Y1], [AXIS] Designates axis to be moved
Motion Amount or

Coordinate Value

Auxiliary Data for Cir­cular Interpolati on and
Helical Interpola tion

Amount of External
Positioning Motion

Important Points

Direct Designation: 123.456
Variable Designation:
MW0100

R Circula r interpolation radius (set by the increm ent)
U

V
D Distance of motion after external signal input (set by

Coordinate value of designated axis , or inc rem ental
motion range

Circular interpolation center coordinate (Horizontal)
Circular interpolation center coordinate (Vertical)

the incr em e nt)

1. The 32-bit integer data type is used when the motion amount or coor dinate value
is designated by a variable.
(Ex.) ML0100

2. When there are fractions, insert zeroes for the number of places following the
decimal point.
(Ex.) Use 300000 to designate 300.000 when the number of decimal places = 3.
However, the servo parameter area (IWCxxx, OWCxxx) in the I, O registers
cannot be used for variables of the motion amount or coordinate value.

! Number of Simul taneously Controlled Axes

The number of simultaneously controlled axes designated from the motion program is
shown in the following chart.

Number of Simultaneously Controlled Axes List

Command Language

Positioning (MOV) 14 axes maximum
Linear Interpol ation (MVS) 14 axes maximum
Circular Interpolation (MCW/MCC) 2 axes
Helical Interpolation (MCW/MCC) 3 axes
Skip Command (SKP) 14 axes maximum
External Positioning (EXM) 1 axis
Time Designated Positioning (MVT) 14 axes maximum

Number of Simultaneously

Controlled Axes

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MotionSuite ™ Series Machine Controller Programming Manual Chapter 1: Motion Programmming Outline

! Command Units

The programmable command units are in accordance with the settings of b0~b3
“Command Unit Selection” of set-up parameter 17 “Servo Module Function Selection
Flag” and set-up parameter 18 “Number of Places Below Decimal Point.”

Command Unit List

Parameter Setting

# of Places Below Decimal=0 1 pulse 1mm 1º 1”
# of Places Below Decimal=1 1 pulse 0.1mm 0.1º 0.1”
# of Places Below Decimal=2 1 pulse 0.01mm 0.01º 0.01”
# of Places Below Decimal=3 1 pulse 0.001mm 0.001º 0.001”
# of Places Below Decimal=4 1 pulse 0.0001mm 0.0001º 0.0001”
# of Places Below Decimal=5 1 pulse 0.00001mm 0.00001º 0.00001”

Command Unit

Pulse

Command Unit mmCommand Unit

deg

Command Unit

inch

Supplement

The number of places below the decimal point are disabled if command unit = pulse.
The decimal points in the motion pr ogram input and posit ion monitor dis play are also
meaningless.

! Maximum Command V alue

The maximum values of single motion commands are given in the table below.

# of Decimal

Places

0 -2147483648

1 -2147483648

2 -2147483648

3 -2147483648

Limited Lengths

4 -2147483648

5 -2147483648

Command Un it

Pulse

~2147483647

~2147483647

~2147483647

~2147483647

~2147483647

~2147483647

Command Unit mmCommand Unit

deg

-2147483648
~2147483647

-2147483648
~214748364.70~3599999.9

-2147483648
~21474836.470~359999.99

-2147483648
~2147483.6470~35999.999

-2147483648
~214748.36470~3599.9999

-2147483648
~21474.836470~359.99999

0~
35999999

Command Unit

inch

-2147483648
~2147483647

-2147483648
~214748364.7

-2147483648
~21474836.47

-2147483648
~2147483.647

-2147483648
~214748.3647

-2147483648
~21474.83647

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MotionSuite ™ Series Machine Controller Programming Manual Chapter 1: Motion Programmming Outline

! Designation of “Absolute Mode” in a Rotary Axis

When an absolute value command (designation mode in a range of 0~359.999º) is
used in a rotary axis, the commanded +/- sign shows the rotation direction, and the
command value signifies the absolute position.

Example

When designating a position 180º from the current position:

Example of Designating the Rotary Axis Absolute Mode

0º

270º

Example of Designating the Rotary Axis Absolute Mode

270º

180º

0º

180º

90º

90º

ZRN [X1]0;
INC MOV [X1]180.0;
ABS MOV [X1]270.0; moves 90º clockwise

ZRN [X1]0;
INC MOV [X1]180.0;
ABS MOV [X1]-270.0; moves 270º counte r-clockwise

Supplement

When moving to the 0º position by designating the absolute mode in a rotary axis, -0.0
cannot be designated in a counter-clockwise motion. In this case, designate -360.0.

! Number and Variable Tabulation Method

Numbers used in motion programs are of two types: parameters and variables. The
setting method for these numbers is given below.

a. Parameters

Tabulation of Numbers that Can be Designated

Type Range Notation Example

Decimal Integers -2147483648~2147483647 0, 734, +823, -2493
Decimal Fractions -2147483.648~2147483.647

Changes accord ing to number

of decimal place s
Hexadecimal Integers 0~FFFFFFFFH FFFABCDEH, 2345H, FH
Real Numbers

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763., +824.2, -234.56

-321.12345

MotionSuite ™ Series Machine Controller Programming Manual Chapter 1: Motion Programmming Outline

b. Variables

The following types of variables exist for use in motion programs. Use them
according to the application.

Types of Variables and Tabu lation Method

Type

Global
Variables

Local Variables D Register DB DW DL DF

Variable

Type

S Register SB SW SL SF
M Register MB MW ML MF
I Register IB IW IL IF
O Register OB OW OL OF
C Register CB CW CL CF

BIT WORD LONG FLOAT

Data Type

M B 1 2 3 4 5 F

Bit Position: Enabled only with bit data
Variable Address: B, W, L, F
Data Type: B, W, L, F
Variable Name: S, M, I, O, C, D

(Ex.) MB001001=1;

MW00100=1234;
ML00100=12345678;
MF00100=1234.5678;

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MotionSuite ™ Series Machine Controller Programming Manual Chapter 1: Motion Programmming Outline

! Calculations and Functions

Calculations can combine global variables, local variables and constants with
operators and functions. The result can be substituted by a variable. Calculation and
functions use the following commands.

Type Command Name Command Format

= Substitution MW– =MW–;
+ Addition MW– =MW– +MW–;

Value Calculations

Logical Calculations

Value Comparisons

Data Operations

Basic Functions

– Subtraction MW– =MW – –MW
* Multiplication MW– =MW–*MW–;
/ Division MW– =MW–/MW–;
MOD Remainder MW– =MOD;
| OR (Logical OR) MB– =MB– | MB–;
^ XOR (Exclusive OR) MB– =MB– ^MB–
& AND (Lo gical AND) MB– =MB– &MB–;
! NOT (Invert) MB– =MB– !MB–;
= = Same IF MW– = =MW–;
< > Not same IF MW– < >MW–;
> Greater IF MW– >MW–;
<Less IF MW– <MW–;
>= Greater or equal IF MW– > =MW–;
<= Less or equal IF MW– < =MW–;
SFR Right-shift SFR MB– N– W–;
SFL Left-shift SFL MB– N– W–;
BLK B lock tra nsfer BLK M W– MW– W–;
CLR Clear CLR MB– W–;
SIN Sine SIN (MW–);
COS Cosin e COS (M W–);
TAN Tangent TAN (MF–);
ASN ARC sine ASN (MF–);
ACS AR C cosine ACS (MF–);
ATN A R C tang e nt ATN (MW– );
SQT Square root SQT (MW–);
BIN BCD→BIN BIN (MW–);
BCD BIN→BCD BCD (MW–);
S{} Designated bit ON S{MB–}=MB– &MB–;
R{} Designated bit OFF R{MB–}=MB– &MB–;

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MotionSuite ™ Series Machine Controller Programming Manual Chapter 1: Motion Programmming Outline

1.2.3 Feed Speed
! Fast Feed Speed

a. Fast feed speed is used in the following axis motions:

• Positioning (MOV) commands

• JOG run (JOG) operation

• Step run (STEP) operation

b. Set the fast feed speed in the setup parameters “Fast Feed Speed (OLxx22) or in

the motion program “Feed Speed Change Command (VEL)”.

• Fast Feed Speed Parameters (set in setup parameters)

Parameter Number Name Setting Range Unit

OLxx22 Fast Feed Speed

• Methods for setting Fast Feed Speed in the motion program

1. Direct Setting Method for Fast Feed Speed Parameters
OLC022=6000 ; Sets fast feed speed for the first axis
OLC062=5000 ; Sets fast feed s pee d for the second axis
OLC0A2=7000 ; Sets fast feed speed for the third axis

2. Setting Method Using t he F eed Speed Change Command (VEL)
VEL [X1] 6000 [Y2] 5000 [Z1] 7000

0~2

31

-1

By command unit

c. The fast feed can be switched to override within a range of 0~327.67%. This can

be set for each axis using the setup parameter “Override (OWxx2C).” There are
three override setting methods: in the motion program, in the ladder program,
and in the setup parameter.

Command Speed × Override = Output Speed

(OLxx22) (OWxx2C)

Command Speed

(OLxx22)

Override Function
Selection
Fixed Parameter 17
Bit 9

Enable

Disable

Override

(OWxx2C)

100%

Supplement

1. Override is normally enabled during run. Ladder programs and motion pro­grams can be modified by parameter setting during axis motion.

2. When the output speed from the override setting data is outside of operable
range, the Parameter Setting Error results.

Output

Speed

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