Machine Controller MP2000 Series

USER’S MANUAL
for Motion Programming

Overview 1
Specifications 2
Program Development Flow 3
Motion Programs 4
Sequence Programs 5
Variables (Registers) 6
Programming 7
Command Reference 8
Engineering Tool MPE720 9
Troubleshooting 10
Appendices App

MANUAL NO. SIEP C880700 38D

Copyright © 2008 YASKAWA ELECTRIC CORPORATION

All rights reserved. No part of this publication may be reproduced, stored in a retrieval system,
or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording,
or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed
with respect to the use of the information contained herein. Moreover, because Yaskawa is con-
stantly striving to improve its high-quality products, the information contained in this manual is
subject to change without notice. Every precaution has been taken in the preparation of this
manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is
any liability assumed for damages resulting from the use of the information contained in this
publication.
About This Manual

 This manual provides information on motion commands for the MP2000 series Machine Control-
lers.
• Motion program overview
• Specifications
• Program development flow
• Motion programs and sequence programs
• Variables
• Programming
• Command reference
• Engineering tool MPE720
• Troubleshooting, etc.
 Read this manual carefully to ensure the proper use of the MP2000 series Machine Controller.
Also, keep this manual in a safe place so that it can be referred to whenever necessary.

Using This Manual

 Intended Audience
This manual is intended for the following users.
• Those responsible for designing the MP2000 series Machine Controller system
• Those responsible for writing MP2000 series Machine Controller motion programs and sequence pro-
grams
 Engineering Tool MPE720 Version Number
In this manual, the operation of MPE720 is described using screenshots of MPE720 version 6.
For this reason, the screenshots and some descriptions may differ from those for MPE720 version 5.
 Description of Abbreviation
In this manual, the following abbreviation is used.
• MP2000: Machine controller model including MP2100, MP2100M, MP2200, MP2300, MP2300S,
MP2310, MP2400, MP2500, MP2500M, MP2500D, and MP2500MD

Manuals for MP2000 Series

 The user’s manuals are prepared by classifying MP2000 series Machine Controller models into
MP2100, MP2100M, MP2200, MP2300, MP2300S, MP2310, MP2400, MP2500, MP2500M,
MP2500D, and MP2500MD.
Refer to Related Manuals on the next page as required.

iii
 Related Manuals

 The following table lists the related manuals. Refer to these manuals as required.
 Before using, be sure you understand the product conditions, including specifications and usage
restrictions.

Manual Name Manual Number Contents

Describes the functions, specifications, setup
Machine Controller MP2100/MP2100M User’s Manual SIEPC88070001 procedures, and operating methods of the
MP2100/MP2100M.
Describes the functions, specifications, setup
Machine Controller MP2200 User’s Manual SIEPC88070014 procedures, and operating methods of the
MP2200.
Describes the functions, specifications, setup
Machine Controller MP2300 Basic Module User’s Manual SIEPC88070003 procedures, and operating methods of the
MP2300.
Describes the functions, specifications, setup
Machine Controller MP2300S Basic Module User’s Manual SIEPC88073200 procedures, and operating methods of the
MP2300S.
Describes the functions, specifications, setup
Machine Controller MP2310 Basic Module
SIEPC88073201 procedures, and operating methods of the
User’s Manual
MP2310.
Describes the functions, specifications, setup
Machine Controller MP2400 User’s Manual SIJPC88074200 procedures, and operating methods of the
MP2400.
Describes the functions, specifications, setup
Machine Controller MP2500/MP2500M/MP2500D/
SIEPC88075200 procedures, and operating methods of the
MP2500MD User’s Manual
MP2500/MP2500M/MP2500D/MP2500MD.
Describes the functions, specifications, and
Machine Controller MP2000 series SVB/SVB-01 application methods of the MP2000-series
SIEPC88070033
Motion Module User's Manual Motion Module that is built into the SVB and
SVB-01 Module.
Describes the functions, specifications, and
Machine Controller MP2000 Series Motion Module SVA-01
SIEPC88070032 operating methods of MP2000-series Motion
User’s Manual
Module SVA-01.
Describes the functions, specifications, and
Machine Controller MP2000 Series Pulse Output Motion
SIEPC88070028 operating methods of MP2000-series Motion
Module PO-01 User’s Manual
Module PO-01.
Describes the functions, specifications, and
Machine Controller MP2000 Series Communication Module
SIEPC88070004 application methods of the MP2000 series
User’s Manual
Communication Modules.
Describes the installation and operation of
Engineering Tool for Machine Controller MP2000 Series
SIEPC88070030 the programming software MPE720 for
MPE720 Version 6 User’s Manual
MP2000 series.
Describes the installation and operation of
Machine Controller MP900/MP2000 Series MPE720
SIEPC88070005 the programming software MPE720 for
Software for Programming Device User’s Manual
MP900/MP2000 series.
Describes the processing instructions used in
Machine Controller MP900/MP2000 Series User’s Manual,
SIEZ-C887-1.2 MP900/MP2000 series Machine Controller
Ladder Programming
ladder programs.
Describes the programming instructions of
Machine Controller MP900/MP2000 Series
the New Ladder Editor, which assists
New Ladder Editor User’s Manual SIEZ-C887-13.1
MP900/MP2000-series design and mainte-
Programming Manual
nance.
Machine Controller MP900/MP2000 Series Describes the operating methods of the New
New Ladder Editor User’s Manual SIEZ-C887-13.2 Ladder Editor, which assists MP900/
Operation MP2000-series design and maintenance.

iv
 Visual Aids

The following aids are used to indicate certain types of information for easier reference.

Indicates important information that should be memorized, including precautions such as alarm displays to
IMPORTANT avoid damaging the devices.

EXAMPLE Indicates supplemental information.

INFO Indicates application examples.

Indicates definitions of difficult terms or terms that have not been previously explained in this manual.
TERMS

Safety Information

The following conventions are used to indicate precautions in this manual. Information marked as shown
below is important for the safety of the user. Always read this information and heed the precautions that are
provided. The conventions are as follows:

Indicates precautions that, if not heeded, could possibly result in loss of life or serious in-
WARNING jury.

Indicates precautions that, if not heeded, could result in relatively serious or minor injury,
or property damage.
CAUTION
If not heeded, even precautions classified under CAUTION can lead to serious
results depending on circumstances.

Indicates prohibited actions. Specific prohibitions are indicated inside .

PROHIBITED
For example, indicates no fire or open flame.

Indicates mandatory actions. Specific actions are indicated inside .

MANDATORY
For example, indicates that grounding is required.

v
 Safety Precautions

This section describes important precautions that apply to motion programming. Before programming,
always read this manual and all other attached documents to ensure correct programming.
Before using the equipment, familiarize yourself with equipment details, safety information, and all other
precautions.

 Application Precautions

CAUTION
• When programming the following axis move commands, check the path to make sure that there are no
tools or other obstacles in the way of the workpiece.
The axis move commands that must be checked are as follows:
• Positioning (MOV)
• Linear Interpolation (MVS)
• Circular Interpolation (MCC, MCW)
• Helical Interpolation (MCC, MCW)
• Set Time Positioning (MVT)
• Linear Interpolation with Skip Function (SKP)
• Zero Point Return (ZRN)
• External Positioning (EXM)

EXAMPLE axis 3

Each axis is moved

independently at rapid
traverse speed. End position

Positioning
axis 3
axis 1

axis 1
Current position

axis 2
axis 2

Example of Basic Path for Positioning (MOV)

Failure to carry out the above checks may result in damage to equipment, serious personal injury,
or even death.

vi
 CAUTION
• If the following coordinate commands are designated incorrectly, the subsequent move operations will
be entirely different than those expected. Before starting operations, be sure to check that the settings
are designated correctly.
The coordinate commands that must be checked are as follows:
• Absolute Programming Mode (ABS)
• Incremental Programming Mode (INC)
• Current Position Set (POS)
• Move ON Machine Coordinates (MVM)

EXAMPLE
axis 2
axis 2
(axis 1)
Current position

(axis 2)

axis 1
(0, 0) Workpiece coordinate system
axis 1

(0, 0) Machine coordinate system

Example of Work Coordinate System Created with

Current Position Set (POS)
Failure to carry out the above checks may result in damage to equipment, serious personal injury, or even death.

 General Precautions

Observe the following general precautions

to ensure safe application.
• MP2000-series Machine Controller was not designed or manufactured for use in devices or systems directly
related to human life. Users who intend to use the product described in this manual for special purposes such as
devices or systems relating to transportation, medical, space aviation, atomic power control, or underwater use
must contact Yaskawa Electric Corporation beforehand.
• MP2000-series Machine Controller has been manufactured under strict quality control guidelines.
However, if this product is to be installed in any location in which a failure of MP2000-series Machine Control-
ler involves a life and death situation or in a facility where failure may cause a serious accident, safety devices
MUST be installed to minimize the likelihood of any accident.
• Drawings and photos in this manual show typical product examples that may differ somewhat from the product
delivered.
• We will update the data sheet number for the manual and issue revisions when changes are made. The edition
number of the revised manual appears on the back of the manual.
• Contact your Yaskawa representative and quote the data sheet number on the front page of the manual if you
need to replace a manual that was lost or destroyed.
• Contact your Yaskawa representative to order new nameplates whenever a nameplate becomes worn or dam-
aged.

vii
 Warranty

(1) Details of Warranty

 Warranty Period
The warranty period for a product that was purchased (hereinafter called “delivered product”) is one year
from the time of delivery to the location specified by the customer or 18 months from the time of shipment
from the Yaskawa factory, whichever is sooner.
 Warranty Scope
Yaskawa shall replace or repair a defective product free of charge if a defect attributable to Yaskawa occurs
during the warranty period above. This warranty does not cover defects caused by the delivered product
reaching the end of its service life and replacement of parts that require replacement or that have a limited
service life.
This warranty does not cover failures that result from any of the following causes.
1. Improper handling, abuse, or use in unsuitable conditions or in environments not described in product cat-
alogs or manuals, or in any separately agreed-upon specifications
2. Causes not attributable to the delivered product itself
3. Modifications or repairs not performed by Yaskawa
4. Abuse of the delivered product in a manner in which it was not originally intended
5. Causes that were not foreseeable with the scientific and technological understanding at the time of ship-
ment from Yaskawa
6. Events for which Yaskawa is not responsible, such as natural or human-made disasters

(2) Limitations of Liability

1. Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises
due to failure of the delivered product.
2. Yaskawa shall not be responsible for any programs (including parameter settings) or the results of pro-
gram execution of the programs provided by the user or by a third party for use with programmable
Yaskawa products.
3. The information described in product catalogs or manuals is provided for the purpose of the customer pur-
chasing the appropriate product for the intended application. The use thereof does not guarantee that there
are no infringements of intellectual property rights or other proprietary rights of Yaskawa or third parties,
nor does it construe a license.
4. Yaskawa shall not be responsible for any damage arising from infringements of intellectual property
rights or other proprietary rights of third parties as a result of using the information described in catalogs
or manuals.

viii
(3) Suitability for Use
1. It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that
apply if the Yaskawa product is used in combination with any other products.
2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equip-
ment used by the customer.
3. Consult with Yaskawa to determine whether use in the following applications is acceptable. If use in the
application is acceptable, use the product with extra allowance in ratings and specifications, and provide
safety measures to minimize hazards in the event of failure.
• Outdoor use, use involving potential chemical contamination or electrical interference, or use in condi-
tions or environments not described in product catalogs or manuals
• Nuclear energy control systems, combustion systems, railroad systems, aviation systems, vehicle sys-
tems, medical equipment, amusement machines, and installations subject to separate industry or gov-
ernment regulations
• Systems, machines, and equipment that may present a risk to life or property
• Systems that require a high degree of reliability, such as systems that supply gas, water, or electricity,
or systems that operate continuously 24 hours a day
• Other systems that require a similar high degree of safety

4. Never use the product for an application involving serious risk to life or property without first ensuring
that the system is designed to secure the required level of safety with risk warnings and redundancy, and
that the Yaskawa product is properly rated and installed.
5. The circuit examples and other application examples described in product catalogs and manuals are for
reference. Check the functionality and safety of the actual devices and equipment to be used before using
the product.
6. Read and understand all use prohibitions and precautions, and operate the Yaskawa product correctly to
prevent accidental harm to third parties.

(4) Specifications Change

The names, specifications, appearance, and accessories of products in product catalogs and manuals may be
changed at any time based on improvements and other reasons. The next editions of the revised catalogs or
manuals will be published with updated code numbers. Consult with your Yaskawa representative to confirm
the actual specifications before purchasing a product.

ix
 Contents
About This Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii
Using This Manual - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii
Manuals for MP2000 Series - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iii
Related Manuals - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - iv
Visual Aids- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - v
Safety Information - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - v
Safety Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - vi
Warranty - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - viii

1 Overview
1.1 What is a Motion Program? - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
1.2 Motion Program Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.1 Execution Method- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-3
1.2.2 Motion Control in Full Synchronization with Sequence Control - - - - - - - - - - - - - - - - - - - - - - -1-3
1.2.3 Easy to Realize High-level Motion Control- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-4
1.2.4 Easy-to-Understand Motion Language - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-4
1.2.5 Arithmetic Operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-4
1.2.6 Data Transfer from/to Ladder Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-5
1.2.7 Memory Usage Reduced by Use of Subprograms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-5
1.2.8 Parallel Program Execution - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-6
1.2.9 Program Online Editing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-6
1.2.10 Enriched Easy Programming Functions (MPE720 Ver.6.04 or later)- - - - - - - - - - - - - - - - - - -1-7

1.3 Motion Program Execution Sequence- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8

1.4 Motion Program Execution Registration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
1.5 Motion Program Execution Timing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10
1.6 Grouping - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11
1.7 Application Examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
1.7.1 Example 1: Handling System - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
1.7.2 Example 2: Mechanical Parts Inserting Machine - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
1.7.3 Example 3: Panel Processing Machine - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-13
1.7.4 Example 4: Metal Sheet Bending Equipment - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-13

1.8 What is a Sequence Program? - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-14

1.9 Sequence Program Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-15
1.9.1 Execution Method- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-15
1.9.2 Programming Language Commonly Used in Motion Programs - - - - - - - - - - - - - - - - - - - - - - 1-15
1.9.3 Data Transfer from/to Motion Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-15
1.9.4 Memory Usage Reduced by Use of Subprograms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-16
1.9.5 Easy Programming Functions (MPE720 Ver.6.04 or later) - - - - - - - - - - - - - - - - - - - - - - - - - 1-16

x
2 Specifications
2.1 MP2000 Series Machine Controller Specifications - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.1 Applicable Machine Controller Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.2 Applicable Motion Modules- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.3 List of Machine Controller Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3

2.2 Engineering Tool MPE720 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5

2.2.1 Applicable Version Numbers of the Engineering Tool MPE720- - - - - - - - - - - - - - - - - - - - - - - 2-5
2.2.2 List of Engineering Tool MPE720 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5

2.3 List of Motion Language Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6

3 Program Development Flow

3.1 Program Development Flow - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
3.2 Program Development Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
3.2.1 Hardware Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
3.2.2 Installing MPE720 Version 6 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
3.2.3 Communication Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
3.2.4 System Setup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
3.2.5 Creating Project Files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4
3.2.6 Group Definitions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5
3.2.7 Creating a Motion Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6
3.2.8 Registering the Program Execution - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-7
3.2.9 Transferring the Motion Program- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10
3.2.10 Debugging the Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
3.2.11 Saving the Programs in Flash Memory- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-13
3.2.12 Executing the Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14

4 Motion Programs
4.1 Types of Motion Programs- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
4.2 Motion Programs For Each Axis Group- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
4.3 Running a Motion Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
4.3.1 How to Run a Motion Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
4.3.2 Registering the Program Execution - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
4.3.3 Work Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6

4.4 Advanced Programming - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11

4.4.1 Indirect Designation of a Program Number Using a Register - - - - - - - - - - - - - - - - - - - - - - - 4-11
4.4.2 Controlling the Motion Program Directly from an External Device- - - - - - - - - - - - - - - - - - - - 4-12
4.4.3 Monitor the Motion Program Execution Information Using S Register - - - - - - - - - - - - - - - - - 4-13

5 Sequence Programs
5.1 Sequence Program Types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2
5.2 How to Run a Sequence Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3
5.2.1 How to Run a Sequence Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3
5.2.2 Registering Program Execution - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
5.2.3 Work Register - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5

xi
 6 Variables (Registers)
6.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.1.1 Variable Types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-2
6.1.2 Global Variables and Local Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-4

6.2 Using Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7

6.2.1 System Variables (S Registers) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-7
6.2.2 Data Variables (M Registers) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-8
6.2.3 Input Variables (I Registers)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-9
6.2.4 Output Variables (O Registers) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11
6.2.5 C Variables (C Registers) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
6.2.6 D Variables (D Registers) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14

6.3 How to Use Subscripts i, j - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15

7 Programming
7.1 Motion Program Format - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
7.1.1 Motion Program Structure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-2
7.1.2 Block Format - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-2
7.1.3 Using Constants and Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-7

7.2 Motion Module Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9

7.2.1 Axis Type Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-9
7.2.2 Reference Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -7-9
7.2.3 Electronic Gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-10
7.2.4 Speed Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-12
7.2.5 Acceleration/Deceleration Setting- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-12

7.3 Group Definition - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-13

7.4 Priority Levels of Operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-15
7.5 Commands and Execution Scans - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-17
7.5.1 Command Types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-17
7.5.2 List of Command Types- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-18

7.6 Sequence Program Format - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-19

8 Command Reference
8.1 Axis Setting Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3
8.1.1 Absolute Mode (ABS) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-3
8.1.2 Incremental Mode (INC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-7
8.1.3 Acceleration Time Change (ACC)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-11
8.1.4 Deceleration Time Change (DCC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-17
8.1.5 S-curve Time Constant Change (SCC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-23
8.1.6 Set Velocity (VEL)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-29
8.1.7 Maximum Interpolation Feed Speed Setting (FMX) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-35
8.1.8 Interpolation Feed Speed Ratio Setting (IFP)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-37
8.1.9 Interpolation Acceleration Time Change (IAC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-40
8.1.10 Interpolation Deceleration Time Change (IDC)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-43
8.1.11 Set Interpolation Acceleration/Deceleration Mode (ACCMODE) - - - - - - - - - - - - - - - - - - - - 8-46

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8.2 Axis Move Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-60
8.2.1 Positioning (MOV) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-60
8.2.2 Linear Interpolation (MVS) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-64
8.2.3 Clockwise/Counterclockwise Circular Interpolation with Center Position Designation
(MCW, MCC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-69
8.2.4 Clockwise/Counterclockwise Circular Interpolation with Radius Designation (MCW, MCC) - - 8-75
8.2.5 Clockwise/Counterclockwise Helical Interpolation with Center Position Designation
(MCW, MCC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-79
8.2.6 Clockwise/Counterclockwise Helical Interpolation with Radius Designation (MCW, MCC) - - 8-82
8.2.7 Zero Point Return (ZRN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-84
8.2.8 Linear Interpolation with Skip Function (SKP)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-86
8.2.9 Set Time Positioning (MVT) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-88
8.2.10 External Positioning (EXM) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-90

8.3 Axis Control Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-92

8.3.1 Current Position Set (POS) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-92
8.3.2 Move On Machine Coordinates (MVM) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-94
8.3.3 Program Current Position Update (PLD) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-95
8.3.4 In-Position Check (PFN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-96
8.3.5 Set In-Position Range (INP) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-98
8.3.6 Coordinate Plane Setting (PLN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-100

8.4 Program Control Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-101

8.4.1 Branching Commands (IF ELSE IEND) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-101
8.4.2 Repeat (WHILE WEND) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-103
8.4.3 Parallel Execution (PFORK, JOINTO, PJOINT) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-106
8.4.4 Selective Execution (SFORK, JOINTO, SJOINT) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-109
8.4.5 Motion Subprogram Call (MSEE) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-113
8.4.6 Sequence Subprogram Call (SSEE) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-114
8.4.7 User Function Call From Motion Program (UFC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-115
8.4.8 User Function Call from Sequence Program (FUNC) - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-123
8.4.9 Program End (END) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-124
8.4.10 Subprogram End (RET) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-125
8.4.11 Dwell Time (TIM) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-126
8.4.12 I/O Variable Wait (IOW) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-127
8.4.13 One Scan Wait (EOX) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-129
8.4.14 Single-block Signal Disabled (SNGD)/Single-block Signal Enabled (SNGE) - - - - - - - - - - 8-130

8.5 Arithmetic Operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-131

8.5.1 Substitute (=) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-131
8.5.2 Add (+) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-132
8.5.3 Subtract (-) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-133
8.5.4 Multiply (*) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-134
8.5.5 Divide (/)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-135
8.5.6 Remainder (MOD) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-136

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 8.6 Logic Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-137
8.6.1 OR (|) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-137
8.6.2 AND (&) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-139
8.6.3 XOR (^) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-140
8.6.4 NOT (!) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-141

8.7 Data Comparisons - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-142

8.7.1 Data Comparison Commands (==, <>, >, <, >=, <=)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-142

8.8 Data Operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-144

8.8.1 Bit Right Shift (SFR) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-144
8.8.2 Bit Left Shift (SFL) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-145
8.8.3 Block Move (BLK)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-146
8.8.4 Clear (CLR) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-147
8.8.5 ASCII Conversion 1 (ASCII)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-148

8.9 Basic Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-150

8.9.1 Sine (SIN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-150
8.9.2 Cosine (COS)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-152
8.9.3 Tangent (TAN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-153
8.9.4 Arc Sine (ASN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-154
8.9.5 Arc Cosine (ACS) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-155
8.9.6 Arc Tangent (ATN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-156
8.9.7 Square Root (SQT) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-157
8.9.8 BCD to Binary (BIN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-159
8.9.9 Binary to BCD (BCD) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-160
8.9.10 Set Bit (S{ }) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-161
8.9.11 Reset Bit (R{ }) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-162
8.9.12 Rising Pulse (PON)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-163
8.9.13 Falling Pulse (NON) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-165
8.9.14 ON-Delay Timer (TON): Counting unit: 0.01 second - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-168
8.9.15 OFF-Delay Timer (TOF): Counting unit: 0.01 second - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-170

8.10 C-Language Control Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-172

8.10.1 C-Language Task Control (CTSK) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-172
8.10.2 C-Language Function Call (CFUNC)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-174

9 Engineering Tool MPE720

9.1 Motion Editor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
9.1.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-2
9.1.2 Names and Descriptions of Motion Editor Window Components - - - - - - - - - - - - - - - - - - - - - -9-4

9.2 Command Input Assistant Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-6

9.2.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-6
9.2.2 Motion Command Assist Dialog Box Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-8

9.3 Program Execution Registration Function - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-12

9.3.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-12
9.3.2 Program Execution Registry Screen Dialog Box Details - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-13

xiv
 9.4 Debug Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-15
9.4.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-15
9.4.2 Motion Editor Window during Debugging - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-16

9.5 Motion Task Manager - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-22

9.5.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-22
9.5.2 Motion Task Manager Window Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-23

9.6 Drive Control Panel- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-24

9.6.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-24
9.6.2 Drive Control Panel Details- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-26

9.7 Test Run Function- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-28

9.7.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-28
9.7.2 Test Run Window Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-29

9.8 Axis Status and Alarm Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-31

9.8.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-31
9.8.2 Monitor Window Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-33

10 Troubleshooting
10.1 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2
10.1.1 Basic Flow of Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2

10.2 Troubleshooting for Motion Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3

10.2.1 Error Investigation Flow - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3
10.2.2 Problem Starting a Motion Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-4
10.2.3 Confirming the Alarm Code - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-9
10.2.4 Motion Program Alarm Codes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-15

10.3 Troubleshooting for Sequence Programs - - - - - - - - - - - - - - - - - - - - - - - - - 10-17

10.3.1 Error Investigation Flow - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-17
10.3.2 Problem Starting a Sequence Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-18

Appendices

A Motion Language Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2

A.1 Axis Setting Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2
A.2 Axis Move Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-3
A.3 Control Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-5
A.4 Program Control Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-6
A.5 Arithmetic Operations- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-8
A.6 Logical Operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-8
A.7 Data Comparison- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-9
A.8 Data Operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-9
A.9 Basic Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-10
A.10 C-Language Control Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-11

xv
 B Sample Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-12
B.1 Programs for Controlling Motion Program Execution - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-13
B.2 Parallel Processing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-15
B.3 Motion Program for Speed Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-16
B.4 Simple Synchronized Operation Using a Virtual Axis - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-17
B.5 Sequence Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-19

C Differences between MP900 Series and MP2000 Series Machine Controllers - - A-21
C.1 Motion Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-21
C.2 Sequence Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-21
C.3 Motion Programming Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-22
C.4 Group Definitions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-22
C.5 Debug Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-23
C.6 Motion Program Alarms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-23

D Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-24
D.1 General Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-24
D.2 Precautions on Motion Parameter Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-25

Index

Revision History

xvi
 1
Overview

This chapter introduces motion programs and describes their features for those who are unfa-
miliar with them.

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

1.2 Motion Program Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.1 Execution Method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
1.2.2 Motion Control in Full Synchronization with Sequence Control - - - - - - - - - - - - - - - - - - 1-3
1.2.3 Easy to Realize High-level Motion Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.2.4 Easy-to-Understand Motion Language - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.2.5 Arithmetic Operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
1.2.6 Data Transfer from/to Ladder Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
1.2.7 Memory Usage Reduced by Use of Subprograms - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
1.2.8 Parallel Program Execution - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6

Overview
1.2.9 Program Online Editing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6
1.2.10 Enriched Easy Programming Functions (MPE720 Ver.6.04 or later) - - - - - - - - - - - - - 1-7

1.3 Motion Program Execution Sequence - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8

1.4 Motion Program Execution Registration - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
1.5 Motion Program Execution Timing - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10
1.6 Grouping - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11
1.7 Application Examples - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
1.7.1 Example 1: Handling System - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
1.7.2 Example 2: Mechanical Parts Inserting Machine - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
1.7.3 Example 3: Panel Processing Machine - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-13
1.7.4 Example 4: Metal Sheet Bending Equipment - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-13

1.8 What is a Sequence Program? - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-14

1.9 Sequence Program Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-15
1.9.1 Execution Method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-15
1.9.2 Programming Language Commonly Used in Motion Programs - - - - - - - - - - - - - - - - 1-15
1.9.3 Data Transfer from/to Motion Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-15
1.9.4 Memory Usage Reduced by Use of Subprograms - - - - - - - - - - - - - - - - - - - - - - - - - 1-16
1.9.5 Easy Programming Functions (MPE720 Ver.6.04 or later) - - - - - - - - - - - - - - - - - - - - 1-16

1-1
 1 Overview

1.1 What is a Motion Program?

The motion program is a program written in motion language, Yaskawa’s unique textual language.
A motion program can be executed either by coding an MSEE command in a ladder program or by registering
the motion program in the program execution registry screen dialog box for the M-EXECUTOR Module.

Note: The M-EXECUTOR Module can not be used with the following modules and Machine Controllers:
MP2300, CPU-01, CPU-02

Apart from ladder programs, up to 256 motion programs can be created.

An example of a motion program is shown below.

The features of motion programs are described starting from the next page.

1-2
 1.2 Motion Program Features

1.2 Motion Program Features

1.2.1 Execution Method
A motion program employs an execution method that differs from the ladder program.
With a ladder program, processing from the program start to an END command is completed within one scan.
With a motion program, the processing requested by one command normally requires more than one scan.
Also, the commands are executed sequentially, in the order they are coded.
In this manual, the execution method of ladder program is referred to as Scan Execution, and that of a motion
program as Sequential Execution.

Ladder program Motion program

(Scan execution) (Sequential execution)

One program IB00000 IB00001 OB00000 At the completion of

is executed execution of one
in a fixed move command,
cycle. the next command will MOV [X]1000 [Y]2000;
IB00002 DB000005 be executed.
MOV [X]-1000 [Y]-2000;

MVS [X]2000 [Y]1000 F30000;

IB00003
END;

IB00004 DB000006 OB00001

END

1.2.2 Motion Control in Full Synchronization with Sequence Control

The process written in a motion program is executed in full synchronization with high-speed scans of the
MP2000-series Machine Controller. The axis movement will start within one scan after the start request from the

Overview
ladder program, without any time lag to start the motion program.

Sequence Control Motion Control

(Motion Module)
Motion control in full
synchronization with
Ladder program (High-speed scan) high-speed scans Fully
synchronized
control
Motion parameters

Motion program Position

control

MPM001
Speed
VEL [X]2000 [Y]2000; control
Starts the motion ACC [X]100 [Y]100;
Set motion
program DCC [X]100 [Y]100; parameters
MOV [X]0 [Y]0;
MVS [X]100.0 [Y]200.0; Torque
control

1-3
 1 Overview
1.2.3 Easy to Realize High-level Motion Control

1.2.3 Easy to Realize High-level Motion Control

In addition to basic motion control, motion control that involves complicated movements can be easily realized
by using motion programs.

Helical
interpolation

Positioning
Circular
interpolation
Linear
interpolation

1.2.4 Easy-to-Understand Motion Language

A motion program employs intuitive motion language commands such as VEL to set a velocity and MOV for
positioning.

Set Velocity
VEL [A1]1000 [B1]500;

Positioning
MOV [A1]100 [B1]200;

1.2.5 Arithmetic Operations

The motion language includes commands for arithmetic operations and logical operations.
These commands allow you to include various calculations, such as calculation of target position in a motion pro-
gram.

DL00000 = DL00002 + DW00004;

DL00000 = DW00002
* DL00004;
MW00000 = MW00000 & 00FFH;
MF00000 = SIN(30.0);

1-4
 1.2 Motion Program Features

1.2.6 Data Transfer from/to Ladder Program

Data can be transferred between a ladder program and motion program.
Data registers (M registers) are used to transfer the data.
In this way, a value updated in a ladder program can be used in a motion program, and vice versa

Ladder program Motion program

Data register
Read Update Read Update
(M register) MOV [A1] ML00000;

1.2.7 Memory Usage Reduced by Use of Subprograms

Subroutines (subprograms) can be created within a motion program.
The number of program steps can be minimized by creating a subprogram that includes a set of commands to
perform a repeated or regular task, thus reducing memory usage.

Main program Main program Main program

Overview
MPM001 MPM002 MPM003

Calling Calling Calling

(MSEE) (MSEE) (MSEE)

Write common
MPS010 processing in a
subprogram.

Subprogram

1-5
 1 Overview
1.2.8 Parallel Program Execution

1.2.8 Parallel Program Execution

With a single MP2000-series Machine Controller, up to 16 tasks can be simultaneously executed using motion
programs. With one motion program, up to four main programs can be simultaneously executed. Additionally, up
to two subprograms can be simultaneously executed by calling subprograms from the main program. Multiple
different movements can be simultaneously controlled by using such the parallel program execution function.

Simultaneous
execution of
up to 16 tasks

Task

Up to four main programs

can be executed
in parallel.

Task 1
Processing 1
Processing 2 Processing 3 Processing 4

Subprogram

MP2000- Task 2
series
Machine
Controller Processing Processing
1-1 1-2

Up to two subprograms
can be executed in
parallel.

Task 16

1.2.9 Program Online Editing

Motion programs can be edited online in the same way as ladder programs.
Online editing refers to editing programs with the programming device logged on to the Machine Controller.
In online editing mode, the operation to save the edited program automatically transfers the saved program to the
Machine Controller. Thus, an operation to transfer to the Machine Controller is not required and program devel-
opment efficiency is improved.

Operation to transfer a program

to the Machine Controller

Offline editing

Debugging
Programming

Online editing

INFO Online editing is disabled while a motion program is running.

1-6
 1.2 Motion Program Features

1.2.10 Enriched Easy Programming Functions (MPE720 Ver.6.04 or later)

The engineering tool MPE720 Ver.6 for MP2000-series Machine Controllers is provided with the following easy
programming functions.

Command Input Assistant Function Test Run Function

Simply select a command and set data in the Motion Control the axes onscreen.
Command Assist dialog box to insert the command in
the editor.

Inserts the command

Axis Operation Monitor Function Program Execution Registration Function

View the motion status of each axis onscreen. Easily register programs to be executed in the system.

Overview
Operation Control Panel Function Debug Function
Start motion programs from the Motion Debug a motion program.
Editor window. The debug commands, including step-by-step execution
and break point setting, are provided.

1-7
 1 Overview

1.3 Motion Program Execution Sequence

The motion programs created on the MPE720 Motion Editor window are transferred to the MP2000-series
Machine Controller. The transferred motion programs can be called by MSEE commands coded in the ladder
program, or from the execution registry screen dialog box of the M-EXECUTOR Module. Motion commands are
sent to the motion module via the motion parameters to move axes.
The following diagram illustrates how motion programs created using the MPE720 are executed.

Motion Editor Window

MPE720 Transfer the created programs

MP2000-series Machine Controller

Motion programs
Ladder program

H MSEE command MPM001

VEL [X]2000 [Y]2000;

SVR
Calling ACC [X]100 [Y]100;
H01 DCC [X]100 [Y]100;
MOV [X]0 [Y]0;
MVS [X]100.0 [Y]200.0;
H01.01

H01.02 Built-in
SVB
H02
Motion parameters

M-EXECUTOR
Program Definition tab
MPM002 SVB-01
ABS;
Calling FMX T100000;
MVS [C1]300 [D1]400 F1000;
END;

SVA-01

Can call motion

programs without using
ladder program Can call up to
16 programs at once

Capable of storing
up to 256 programs PO-01

1-8
 1.4 Motion Program Execution Registration

1.4 Motion Program Execution Registration

Execution of motion programs can be registered in two ways.

 Calling a Motion Program from the Ladder Program

Code an MSEE command in an H drawing to call the motion program to run. An MSEE work register is used
to start/stop the called motion program. Motion programs can be called from any H drawing: parent drawing,
child drawing, or grandchild drawing.
Motion program

DWG.H MPM001

Calls
INC;

VEL [A1]100 [B1]200;

MOV [A1]1000 [B1]2000;

Work register

Status END;
Control signal

Interpolation override

System work number

INFO In this manual, the high-speed processing drawing of a ladder program is referred to as H drawing.

 Registering Motion Programs in M-EXECUTOR

Register motion programs in the M-EXECUTOR program execution definition. A control register (I/O regis-
ter) is used to start or stop the registered motion program.

Overview
M-EXECUTOR Motion program

Program definition MPM001

Calls
INC;
VEL [A1]100 [B1]200;

MOV [A1]1000 [B1]2000;

Control registers
END;

INFO M-EXECUTOR is a software module to execute motion programs and sequence programs.

1-9
 1 Overview

1.5 Motion Program Execution Timing

Motion programs are executed in full synchronization with MP2000 high-speed scans. In every high-speed scan
cycle, I/O services are performed first, and the motion program registered in M-EXECUTOR is executed.
Next, the motion program initiated in the MSEE command coded in the DWG.H is executed at the timing of the
MSEE command execution.
The following diagram illustrates motion program execution timing.

High-speed scan High-speed scan High-speed scan

Empty Empty Empty

System processing H drawing

I/O service I/O service

M-EXECUTOR
(Output) (Input)

MP2000-series
CPU Module External device
Batch
Input (I)
input
register
Output (O)
register
Batch
output

Motion program
M-EXECUTOR MPM001 Subprogram
Reports MPS101
Status MSEE
Control signal
Requests RET;
to execute END;

DWG.H

Motion program
MPM002 Subprogram
MPS102
Reports
Status MSEE

Control signal RET;

Requests END;
to execute

1-10
 1.6 Grouping

1.6 Grouping
The axes involved in related operations are organized into individual groups. Motion programs can be created for
each group. This allows one MP2000-series Machine Controller to independently control multiple machines
using group operation. Group operation can be single group operation or multiple group operation.
Definitions for axes to be grouped together are made under Group Definitions.

 Single Group Operation

MP2000 series
Machine Controller
SGDS

SGDS

SGDS

SGDS

SGDS


A1 B1 C1 F1 G1

Group1

 Multiple Group Operation

MP2000 series
Machine Controller
SGDS

SGDS

SGDS

SGDS

SGDS



Overview
A1 B1 A2 D2 A3

Group1 Group2 Group3

Groups are organized

in a tree structure.

1-11
 1 Overview
1.7.1 Example 1: Handling System

1.7 Application Examples

Motion programs can be used for operations of various systems.
Some application examples are shown below.

1.7.1 Example 1: Handling System

Outline
• To stack a specified number of cardboard boxes on a pallet and
transport them to the next process
• The system operation includes three axes motion control for
the palletizing process and an automatic pallet feeding
sequence.

Control points
• Moves X1 and X2 axes in synchronization using
Pallet a virtual axis.
Pallet • Realizes smooth movements by using interpola-
tion.
• Palletizes by calculating the position data with the
motion program according to predefined condi-
tions (box dimensions, the number of boxes in a
horizontal row, the number of boxes in a vertical
row, and the number of boxes in a stack.

1.7.2 Example 2: Mechanical Parts Inserting Machine

Outline
• To insert parts, such as connectors, in a printed board.
• The handling robot takes out the parts and brings them to the
stand. The inserting robot inserts the parts in the specified posi-
tion and angle on the board.

Robot 2
Robot 1
-
-+ -
-
+
+
+ Control points
+
-
2
• Two groups of axes are organized, and programs
are created for each group, so that each robot is
Printed
board Stand
-
+ independently controlled.
• The tact time can be shortened by using two-axes
Parts tray
or three-axes linear interpolation.

1-12
 1.7 Application Examples

1.7.3 Example 3: Panel Processing Machine

Outline
• To draw waveforms on a flat panel made of construction mate-
rial.
• More than ten cutters are mounted in series on the X axis, and
the width of the pattern can be easily changed.

Flat panel
Control points
z • Moves X and Y axes in circular interpolation
Y to draw waveforms.
• Moves Y1 and Y2 axes in synchronization
Cutter
using a vertical axis.

Wave forms

1.7.4 Example 4: Metal Sheet Bending Equipment

Outline
• To bend a metal sheet
• A metal sheet can be bent into various shapes by changing the

Overview
adjusting axis while feeding a sheet using the rolling axis.

Workpiece
platform
Adjusting roller

Control points
Workpiece • Controls two axes, a linear axis and rota-
(metal sheet)
tional axis, in linear interpolation.
• Switches the motion program to be called
Motor for according to the process.
adjusting roller
Motor for
inserting workpieces

Feeding roller (urethane)

Gear
Motor for feeding roller

1-13
 1 Overview

1.8 What is a Sequence Program?

The sequence program is a scan execution type program written in the language commonly used for the motion
program.
An application to cyclically check a status, such as an interlock, can be created by using a sequence program.
A sequence program can be executed by calling from the program execution registry screen dialog box of M-
EXECUTOR Module.

Note: The M-EXECUTOR Module can not be used with the following modules and Machine Controllers:
MP2300, CPU-01, CPU-02

A total of up to 256 sequence and motion programs can be created.

An example of a sequence program is shown below.

The features of sequence programs are described, starting from the next page.

1-14
 1.9 Sequence Program Features

1.9 Sequence Program Features

1.9.1 Execution Method
A sequence program employs the same execution method as the ladder program.
A sequence program is a cyclically executed scan execution type program. Processing from the program start to
an END command is completed within one scan.
Sequence programs can be used by registering them in the program execution registry screen dialog box of M-
EXECUTOR Module.

Ladder program Sequence program

(Scan execution type) (Scan execution type)

IB00000 IB00001 OB00000

Executed in Executed in
a constant a constant
cycle cycle OB00000 = IB00000 & IB00001;
IB00002 DB000005
DB000005 = IB00002 | IB00003;

IB00003 OB00001 = PON(IB00004 DB000006);

END;

IB00004 DB000006 OB00001

END

1.9.2 Programming Language Commonly Used in Motion Programs

A sequence program employs the same motion language as a motion program.
The motion language commands that can be used in sequence programs, however, are limited to sequence com-
mands, such as math commands. Commands for motion control, such as axis move commands, cannot be used.

Overview
The use of sequence programs allows you to create an application for sequence control without using a ladder
program.

1.9.3 Data Transfer from/to Motion Program

Data can be transferred between a sequence program and a motion program.
Data registers (M registers) are used to transfer the data.
In this way, data updated in the sequence program can be used in the motion program, and vice versa.

Sequence program Motion program

ML00000 = ML00002 + ML00004;

Data register
ML00000 = ML00000 * ML00006; Read Update Read Update
(M register) MOV [A1] ML00000;
END;

1-15
 1 Overview
1.9.4 Memory Usage Reduced by Use of Subprograms

1.9.4 Memory Usage Reduced by Use of Subprograms

Subroutines (subprograms) can be created within a sequence program.
The number of program steps can be minimized by creating a subprogram that includes a set of commands to
perform a repeated or regular task, thus reducing memory usage.

Main program Main program Main program

SPM001 SPM002 SPM003

Call Call Call

(SSEE) (SSEE) (SSEE)

Write a repeated
SPS010 or regular task in
a subprogram

Subprogram

1.9.5 Easy Programming Functions (MPE720 Ver.6.04 or later)

The following easy programming functions can also be used for sequence programs.

Command Input Assistant Function Debug Function

Simply select a command and set data in the Motion Debug a sequence program.
Command Assist dialog box to insert the command The debug commands, including step-by-step execution
in the editor. and break point setting, are provided.

Inserts the command

1-16
 2
Specifications

This chapter describes the relevant specifications of motion program and engineering tool
MPE720.

2.1 MP2000 Series Machine Controller Specifications - - - - - - - - - - - - - - - - - - 2-2

2.1.1 Applicable Machine Controller Models - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.2 Applicable Motion Modules - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
2.1.3 List of Machine Controller Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3

2.2 Engineering Tool MPE720 Specifications - - - - - - - - - - - - - - - - - - - - - - - - 2-5

2.2.1 Applicable Version Numbers of the Engineering Tool MPE720 - - - - - - - - - - - - - - - - - - 2-5
2.2.2 List of Engineering Tool MPE720 Specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5

2.3 List of Motion Language Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6

Specifications

2-1
 2 Specifications
2.1.1 Applicable Machine Controller Models

2.1 MP2000 Series Machine Controller Specifications

2.1.1 Applicable Machine Controller Models
Motion programs can be used with the following MP2000-series Machine Controller models.
• MP2100
• MP2100M
• MP2200/CPU-01
• MP2200/CPU-02
• MP2200/CPU-03
• MP2200/CPU-04
• MP2300
• MP2300S
• MP2310
• MP2400
• MP2500
• MP2500D
• MP2500M
• MP2500MD
• MPU-01

INFO With the exception of MP2300, CPU-01 and CPU-02, both motion programs and sequence programs can be used.
If using the M-EXECUTOR module or sequence programs with MP2100 or MP2100M, the programming tools with fol-
lowing versions are required.

MP2000 Series Controller Applicable Version MPE720 Applicable Version

MP2100 Ver 2.66 or later MPE720 Ver 5 MPE720 Ver 5.44 or later
MP2100M
MPE720 Ver 6 MPE720 Ver 6.10 or later
MPE720 Ver 6.10 Lite or later

2.1.2 Applicable Motion Modules

The following motion modules support motion programs.
The axes connected to the following motion modules can be controlled using motion programs.
• Built-in SVB (Built in MP2100, MP2100M, MP2300, MP2300S, MP2310, MP2400, and MP2500,
MP2500D, MP2500M, MP2500MD as a standard feature)
• SVR (Mounted on all models of MP2000-series Machine Controllers as standard)
• SVA-01
• SVB-01
• PO-01

2-2
 2.1 MP2000 Series Machine Controller Specifications

2.1.3 List of Machine Controller Specifications

MP2200
/CPU-03,
MP2100, MP2200 MP2200
MP2300 MP2300S MP2400 MP2310 MP2200 Remarks
MP2100M /CPU-01 /CPU-02
/CPU-04,
MPU-01
Total user program
capacity including lad-
Program Capacity 5.5 MB 7.5 MB 11.5 MB der programs, motion
programs, and
sequence programs.
Applicable N/A Applicable −
Start
64 drawings max. −
Processing
Ladder Program

Interrupt
64 drawings max. −
Processing
High-speed
200 drawings max. −
Processing
Low-speed
500 drawings max. −
Processing
User function 500 drawings max. −
Applicable −
Up to a total of 256
Number of
256 programs max. motion programs and
Programs
sequence program.
Number of Up to 16 axes can be
Eight groups
Groups set for one group.
Number of motion
Number of programs that can be
16 tasks
Tasks executed simulta-
neously.

Specifications
Number of Parallel execution of
Parallel four main programs ×
Eight parallel processes
Processes parallel execution of
(Per Task) two subprograms.
Execution • By writing an MSEE instruction in the ladder program
−
Method • By using an M-EXECUTOR Module (Excluding MP2300, CPU-01 and CPU-02)
Motion Program

Starting The program starts running at the rising edge of control signal bit 0
−
Method (Program start request).
Override Can be set in the range from 0.01% to 327.67%. −
Mode switching by
Operation
ABS (absolute) and INC (incremental) mode use of the exclusive
Mode
command (ABS/INC).
• Built-in SVB, SVB-01, and SVR Module:
pulse, mm, deg, inch, μm
Reference Unit −
• SVA-01 and PO-01 Module:
pulse, mm, deg, inch
• E pulse
Min. 1
−
Reference Unit • mm, deg, inch, μm
1, 0.1, 0.01, 0.001, 0.0001, 0.00001
Reference
-2147483648 to +2147483647 (32-bit with sign) −
Range
Number of
Simultaneously
Controlled 16 axes max. −
Axes
(Per Task)

2-3
 2 Specifications
2.1.3 List of Machine Controller Specifications

MP2200
/CPU-03,
MP2100, MP2200 MP2200
MP2300 MP2300S MP2400 MP2310 MP2200 Remarks
MP2100M /CPU-01 /CPU-02
/CPU-04,
MPU-01
Applica- Applica-
Applicable N/A Applicable N/A N/A −
ble ble
256 programs max. Up to a total of 256
Number of
(The execution timing can be selected from the start drawing, high-speed scan drawing, motion programs and
Programs
or low-speed scan drawing.) sequence.
Number of sequence
Number of programs that can be
Sequence Program

16 tasks max.
Tasks executed simulta-
neously.
Number of
Parallel
None −
Processes
(Per Task)
Execution
By using the M-EXECUTOR Module −
Method
Started by the system
by registering pro-
Start Method Started by the system.
grams in the M-
EXECUTOR module.
Memory backed up by
M Register Accessible (65535 words)
battery.
Memory backed up by
S Register Accessible (8192 word)
battery.
Accessible Registers

I Register Accessible (32768 words and motion monitoring parameters) −

O Register Accessible (32768 words and motion setting parameters) −
C Register Accessible (16384 words) −
Internal register
unique to each draw-
D Register Accessible (Can be specified in the range from 0 to 16384 words) ing. Can be used by
only the correspond-
ing drawing.
Accessible only from ladder program (Can be specified in the range from 0 to 16384
# Register words) −
(# register cannot be accessed from motion program and sequence program.)

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 2.2 Engineering Tool MPE720 Specifications

2.2 Engineering Tool MPE720 Specifications

2.2.1 Applicable Version Numbers of the Engineering Tool MPE720
Motions programs and/or sequence programs can be created or edited on the following engineering tool MPE720
versions.
• MPE720 Ver.5 (Compatible with MP2000-series Machine Controller models excluding MP2400)
• MPE720 Ver.6 (Compatible with all models of MP2000-series Machine Controllers)
• MPE720 Ver.6 Lite (Compatible only with MP2400)

INFO The above engineering tool software can be installed on one personal computer.

2.2.2 List of Engineering Tool MPE720 Specifications

MPE720 Ver.5 MPE720 Ver.6 MPE720 Ver.6 Lite

Remarks
(CPMC-MPE720) (CPMC-MPE770) (CPMC-MPE770L)
MP2100 Compatible Not compatible −
MP2100M Compatible Not compatible −
Machine Controller Model

MP2200/CPU-01 Compatible Not compatible −

MP2200/CPU-02 Compatible Not compatible −
MP2200/CPU-03 Compatible Not compatible −
MP2200/CPU-04 Compatible Not compatible −
MP2300 Compatible Not compatible −
MP2300S Compatible Not compatible −
MP2310 Compatible Not compatible −
MP2400 Not compatible Compatible −

Specifications
MPU-01 Compatible Not compatible −
Ladder Program Supported Not supported −
Programs

Motion Program Supported −

Sequence Program Supported −
Command Input Assistant
Not provided Provided (Ver.6.04 or later) −
Function
Not supported by
Program Execution Provided
Provided (Ver. 6.04 or later) MP2300, CPU-01,
Registration Function (Ver.5.38 or later)
CPU-02
Debug Function Provided −
Motion Task Manager Provided −
Not supported by
Provided
Drive Control Panel Provided (Ver.6.04 or later) MP2300, CPU-01,
(Ver.5.38 or later)
CPU-02
Test Run Function Not provided Provided (Ver.6.04 or later) −
Axis Operation Monitor/
Not provided Provided (Ver.6.04 or later) −
Alarm Monitor Function

2-5
 2 Specifications

2.3 List of Motion Language Commands

Type Command Name Type Commands Name
ABS Absolute Mode = Substitute
INC Incremental Mode + Add

Operation
Arithmetic
ACC Acceleration Time Change - Subtract
Axis Set Commands

DCC Deceleration Time Change * Multiply

SCC S-curve Time Constant Change / Divide
VEL Set Speed MOD Remainder
FMX Maximum Interpolation Feed Speed | OR (Logical OR)

Operation
IFP Interpolation Feed Speed Ratio Setting & AND (Logical AND)

Logical
XOR (Logical exclusive
IAC Interpolation Acceleration Time Change ^
OR)
IDC Interpolation Deceleration Time Change ! NOT (Inversion)
MOV Positioning == Match
MVS Linear Interpolation <> Mismatch
Axis Move Commands

Comparison
MCW Clockwise Circular/Helical Interpolation > Greater than

Data
Counterclockwise Circular/Helical
MCC < Less than
Interpolation
ZRN Zero Point Return >= Greater than or equal to
SKP Linear Interpolation with SKIP Function <= Less than or equal to
MVT Set Time Positioning SFR Right Shift
Data Operation

EXM External Positioning SFL Left Shift

POS Current Position Set BLK Block Move
Control Commands

MVM Move On Machine Coordinates CLR Clear

PLN Coordinate Plane Setting ASCII ASCII Conversion 1
PLD Program Current Position Update SIN Sine
PFN In-Position Check COS Cosine
INP Set In-Position Check Width TAN Tangent
IF ELSE IEND Branch ASN Arc Sine
WHILE WEND Repeat ACS Arc Cosine
Basic Functions

PFORK, ATN Arc Tangent

JOINTO, Parallel Execution SQT Square Root
PJOINT BIN BCD to Binary
SFORK, BCD Binary to BCD
Program Control Commands

JOINTO, Selective Execution S{ } Set Bit

SJOINT R{ } Reset Bit
MSEE Subroutine (motion subprogram) Call PON Rising Pulse
SSEE Subroutine (sequence subprogram) Call NON Falling Pulse
TON On-Delay Timer
UFC User Function Call from Motion Program
TOF Off-Delay Timer
FUNC User Function Call from Sequence Program
Control Commands

C Language Task
END Program End CTSK
Control
C Language

RET Subprogram End

TIM Dwell Time
IOW I/O Variable Wait C Language Function
CFUNC
EOX One Scan Wait Call
SNGD/SNGE Disable/Enable Single Block

2-6
 3
Program Development Flow

This chapter describes the procedures from system setup to operation start using the program-
ming tool MPE720 version 6.

3.1 Program Development Flow - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2

3.2 Program Development Procedure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
3.2.1 Hardware Configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
3.2.2 Installing MPE720 Version 6 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
3.2.3 Communication Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
3.2.4 System Setup - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
3.2.5 Creating Project Files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4
3.2.6 Group Definitions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-5

Program Development Flow

3.2.7 Creating a Motion Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6
3.2.8 Registering the Program Execution - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-7
3.2.9 Transferring the Motion Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-10
3.2.10 Debugging the Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12
3.2.11 Saving the Programs in Flash Memory - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-13
3.2.12 Executing the Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14

3-1
 3 Program Development Flow

3.1 Program Development Flow

In this chapter, motion program development procedures are described according to the following flowchart.

1. Preparation for Devices to be Connected

Connect the devices.
Install MPE720 in a personal computer.

Refer to the following sections: 6. Registering the Program Execution

3.2.1 Hardware Configuration
3.2.2 Installing MPE720 Version 6 Register the program in the system to execute
3.3.3 Communication Settings the program in high-speed scan.

Refer to the following section:

3.2.8 Registering the Program Execution

2. System Setup
Execute the self-configuration function to set up the
7. Transferring the Program
system.
Refer to the following section:
3.2.4 System Setup Transfer the created program to the MP2000-series
Machine Controller.

Refer to the following section:

3.2.9 Transferring the Motion Program

3. Creating Project Files

Create a project in preparation for program
development. 8. Debugging the Program
Refer to the following section:
3.2.5 Creating Project Files
Debug the created program.

Refer to the following section:

3.2.10 Debugging the Program

4. Settings for Group Definitions

Organize the axes into individual groups according
to the machine configuration. 9. Saving the Program in Flash Memory
Refer to the following section:
3.2.6 Group Definitions Save the debugged program in flash memory.

Refer to the following section:

3.2.11 Saving the Programs in Flash Memory

5. Creating a Motion Program

Code a motion program on the Motion Editor.

10. Executing the Programs

Refer to the following section:
3.2.7 Creating a Motion Program
Execute the created program by using the register
list.

Refer to the following section:

3.2.12 Executing the Programs

Note: 1. The development procedure for sequence programs is basically the same as that for motion programs.
For this reason, descriptions of the sequence program development flow are omitted.
2. The above flowchart shows an example of program development. To use programs for the actual system,
settings for the external devices are required.

Motion Program to be Created

In this chapter, the following motion program is used to explain the program development flow. The motion
program contains only three lines for the simple operation of moving an axis 150,000 pulses from the current
position and then stopping.
INC; “INCREMENTAL MODE”
MOV [A1]150000 [B1]150000; “2 AXES 150000 PULSES POSITIONING”
END;

3-2
 3.2 Program Development Procedure

3.2 Program Development Procedure

3.2.1 Hardware Configuration
The program development procedure is explained using the following system configuration.

Power
MECHATROLINK cable
supply
SERVOPACK SERVOPACK
YASKAWA SERVOPACK 200V YASKAWA SERVOPACK 200V
MP2300 218IF-01 SGDS-01A12A SGDS-01A12A
YASKAWA RDY RUN RUN ERR

ALM ERR STRX COL

MECHATROLINK
SW1 SW1

Terminator
TX BAT TX RX
C C
N N
STOP
SUP
INT
INIT
TEST
CHARGE 6
A/B cable CHARGE 6
A/B
CNFG OFF ON
MON
SW1
TEST
PORT
L1 L1
OFF ON
L2 L2
M-I/II L1C C L1C C
N N
L2C 3 L2C 3

BATTERY B1/ B1/

B2 B2

CPU I/O C C
U N U N
DC24V 10Base-T 1 1
V V
DC 0V
W W
C C
N N
2 2
C C
N N
4 4

Machine Controller

Power supply

PP cable Encoder cable Motor cable

Program Development Flow

Personal computer running MPE720 Servomotor Servomotor

Note: In the system configuration above, set the station numbers of the two SERVOPACKs to 1 and 2.

3.2.2 Installing MPE720 Version 6

Install MPE720 Ver.6 in a personal computer.
For information on the installation procedure, refer to Engineering Tool for MP2000 Series Machine Controller
MPE720 Version 6 User’s Manual (manual no.: SIEPC88070030).

3.2.3 Communication Settings

Set the conditions for communications between the computer on which MPE720 Ver.6 is installed and the
MP2000-series Machine Controller.
For information on the communication settings, refer to Engineering Tool for MP2000 Series Machine Control-
ler MPE720 Version 6 User’s Manual (manual no.: SIEPC88070030).

3.2.4 System Setup

Use the self-configuration function to setup the system. The self-configuration function automatically recognizes
the modules installed on the MP2000-series Machine Controller and the devices connected to the Machine Con-
troller through the MECHATROLINK connection. This function allows you to quickly and easily set up the sys-
tem. The self-configuration can be executed either when the power to the Machine Controller turns ON or by
using MPE720.
For information on how to execute self-configuration, refer to the user’s manual for the Machine Controller to be
used.

3-3
 3 Program Development Flow
3.2.5 Creating Project Files

3.2.5 Creating Project Files

1. Double-click the MPE720 Ver.6 icon on the computer desktop to launch the MPE720 Ver. 6.

2. Click New under Project.

3. Specify the file name, file saving destination folder, and Machine Controller model. Then click the Create
button.

Select the file saving

destination folder.

Select the file name.

Select the MP2000-series

Machine Controller model.

3-4
 3.2 Program Development Procedure

3.2.6 Group Definitions

Before creating a motion program, organize the axes into individual groups according to the machine configura-
tion.
1. Click the Motion tab to display Motion program in the subwindow.

Motion program
appears here.

2. Right-click Motion program in the subwindow. Select Group Definition from the drop-down menu.

Right-
click

Program Development Flow

3. Click OK. For details on group definitions, refer to 7.3 Group Definition.

3-5
 3 Program Development Flow
3.2.7 Creating a Motion Program

3.2.7 Creating a Motion Program

Start the Motion Editor to create a motion program.

1. Programs are displayed under Motion program in the subwindow. Right-click Main program. Select
New from the drop-down menu.

Click to
open Right-
the tree. click

2. Click OK.

3. Enter the sample motion program provided in 3.1 Program Development Flow.

4. Click the Save icon ( ) on the toolbar of the Motion Editor window to start compiling. The motion
program will be automatically saved after compiling is completed.

IMPORTANT Note that the motion program will not be automatically saved if the Error List dialog box appears during com-
piling.

3-6
 3.2 Program Development Procedure

3.2.8 Registering the Program Execution

Call the created motion program from the H drawing using an MSEE command. For details, refer to 4.3.2 Regis-
tering the Program Execution.

1. Click the Ladder tab in the subwindow to display Ladder program.

Ladder program is
displayed here.

2. Right-click High-speed under Ladder program in the subwindow. Select New from the drop-down
menu.

Program Development Flow

Right-click

3. Click OK.

3-7
 3 Program Development Flow
3.2.8 Registering the Program Execution

4. Create the ladder program shown below. After the ladder program has been created, compile the program
by pressing the F8 key on the keyboard or clicking the icon on the toolbar.

INFO • Make sure that bit 0 of motion monitoring parameter IW00 (Operation Ready) is ON before turning ON the Servo
ON command MB000000.
• The Servo ON command will not be accepted if the Operation Ready bit is OFF.

3-8
 3.2 Program Development Procedure

INFO The motion programs can be registered to run by registering the programs in the M-EXECUTOR program execution defi-
nition, without creating the ladder program described on the previous page.
The procedure to register motion programs to the program definition of M-EXECUTOR is described below. Before using
this procedure, be sure to carry out the operation described in 3.2.9 Transferring the Motion Program.

1. Click the icon on the toolbar in the Motion Editor window where the motion program is created.

2. The Program execution registry screen dialog box will open. Click OK to register the program.

Program Development Flow

3-9
 3 Program Development Flow
3.2.9 Transferring the Motion Program

3.2.9 Transferring the Motion Program

Transfer the motion program to the MP2000-series Machine Controller. If the program is created on a computer
using MPE720 Version 6 and the Machine Controller connected online, this operation will not be required.
1. Click Communications Setting in the following window.

2. Select the communication port selected in 3.2.3 Communication Settings, and click the Connection but-
ton.

3. Offline will change to Online. Select Transfer - Write into controller.

3-10
 3.2 Program Development Procedure

4. Click the Individual button, and then select the Program check box. Click the Start button.

• When Individual transfer is selected, the same file in the Machine Controller will be overwritten with the selected proj-
INFO ect file data.
• When Batch transfer is selected, the MP2000-series Machine Controller’s RAM will be cleared before transfer, and all
project file data will be written in the RAM.

5. Click the CPU STOP button to start transfer.

Program Development Flow

6. Click the Yes button in the following dialog box to restart the Machine Controller.

3-11
 3 Program Development Flow
3.2.10 Debugging the Program

3.2.10 Debugging the Program

Debug the created program. For details on debugging, refer to 9.4 Debug Function.
1. Click the Register List 1 tab to display the register list. Specify register MB000000. Set MP000000 to
ON as follows to turn the servo ON.

INFO When using the M-EXECUTOR as described in 3.2.8 Registering the Program Execution, directly set the motion setting
parameter to turn the servo ON.

2. Click the Debug Mode icon ( ) on the toolbar.

3. The Motion Editor will enter debug mode.

4. Click the Step In icon ( ) to execute the program line by line, and check the programmed movements.
For details on debugging, refer to 9.4 Debug Function.

5. Debug the program until the END command. When the debugging operation is completed, turn the servo
OFF.

3-12
 3.2 Program Development Procedure

3.2.11 Saving the Programs in Flash Memory

Save the data in the MP2000-series Machine Controller’s RAM to the flash memory.
1. Select Transfer - Save to flash in the following window.

2. Click the Start button.

Program Development Flow

3. Click the CPU STOP button to start saving.

4. Click the Yes button in the following dialog box to restart the Machine Controller.

3-13
 3 Program Development Flow
3.2.12 Executing the Programs

3.2.12 Executing the Programs

Execute the created programs to operate the actual machine. Turn the Program Start Request bit to ON using the
control signal to execute the motion program.

1. Click the Register List 1 tab to display the register list. Specify register MB000000. Set MB000000 to
ON to turn the servo ON.

2. Set MB000001 in the register list to ON to execute motion program MPM001.

Set MB00000 to ON
to turn the servo ON.

MPM001 starts running at the

rising edge of DB000010.

MSEE work register

DW00000 Status flag
DW00001 Control signal
DW00002 Override for interpolation
DW00003 System work number

3-14
 4
Motion Programs

This chapter describes motion program types and how to run them.

4.1 Types of Motion Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2

4.2 Motion Programs For Each Axis Group - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
4.3 Running a Motion Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
4.3.1 How to Run a Motion Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3
4.3.2 Registering the Program Execution - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-5
4.3.3 Work Registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6

4.4 Advanced Programming - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-11

4.4.1 Indirect Designation of a Program Number Using a Register - - - - - - - - - - - - - - - - - - 4-11
4.4.2 Controlling the Motion Program Directly from an External Device - - - - - - - - - - - - - - - 4-12
4.4.3 Monitor the Motion Program Execution Information Using S Register - - - - - - - - - - - - 4-13

Motion Programs

4-1
 4 Motion Programs

4.1 Types of Motion Programs

There are two motion program types, as listed below.
Designation
Type Features No. of Programs
Method
• Called from the M-EXECUTOR Up to 256 programs including following
MPM
Main Program program execution definition programs can be created.
= 1 to 256)
• Called from DWG.H • Motion main program
• Motion subprogram
MPS
Subprogram • Called from the main program • Sequence main program
(= 1 to 256)
• Sequence subprogram

INFO  The program numbers of motion programs are managed in the same manner as the sequence program num-
bers. Assign a unique number for each program number.
• Program number of Motion program MPM, MPS
• Program number of Sequence program SPM, SPS
 The MP2000-series Machine Controllers can execute up to 16 motion programs simultaneously. An alarm (no
system work error) will occur if 17 or more programs are executed simultaneously.
• No system work error: Bit E of the leading word in the MSEE work registers

4.2 Motion Programs For Each Axis Group

With motion programs, the axes that have related operations are organized into individual groups, and programs
can be created for each group. This allows one MP2000-series Machine Controller to independently control mul-
tiple machines using group operation. Group operation can be single group operation or multiple group opera-
tion. Definitions for axes to be grouped together are made under Group Definitions.
For information on the group definition setting window, refer to 7.3 Group Definition.

 Single Group Operation  Multiple Group Operation

MP2000 Series MP2000 Series

Machine Controller Machine Controller
SGDS

SGDS

SGDS

SGDS

SGDS
SGDS

SGDS

SGDS

SGDS

SGDS

 

A1 B1 C1 F1 G1 A1 B1 A2 D2 A3

Group1 Group1 Group2 Group3

4-2
 4.3 Running a Motion Program

4.3 Running a Motion Program

4.3.1 How to Run a Motion Program
To run the created motion programs, the user must register them in the system. The motion programs registered
in the system can be referenced in the high-speed scan cycle.
Motion programs can be run in two ways, depending on how they were registered in the system:
• Calling it from the ladder program using a MSEE command
• Registering it to the M-EXECUTOR program execution definition
Now, this section explains each way to run a motion program:
(1) Calling the Motion Program from the Ladder Program Using a MSEE command
After creating a motion program, embed an MSEE command (Motion Program Call command) in the H draw-
ings. Motion programs can be called from any parent, child, or grandchild drawing in an H drawing. The follow-
ing figure shows an example of motion program execution.
System programs are
started according to
execution conditions.

Parent Drawings Child Drawings Grandchild Drawings Motion Programs

DWG.H DWG.H01 DWG.H01.01 MPM001
SEE SEE H01.01 VEL [a1]5000 [b1]..
H01 FMX T10000000;
MSEE IAC T25;
IDC T30;
MPM001
MOV [a1]300. [b1]..
MVS [a1]200. [b1]..
.
.
DEND .
END

MPM002
Grandchild
MSEE
MPM002

DEND END

Subprogram

Motion Programs
MPM003
MSEE MPS101
MPM003
MSEE
MPS101

DEND END RET

H drawing ladder commands are executed in hierarchical order i.e., parent drawings, child drawings, then grand-
child drawings in each high-speed scan cycle.
To start up the motion program, after the MSEE command is incorporated, use a control signal to turn ON the
request for the program operation startup.
Motion programs are also called in each scan cycle, but unlike ladder programs, all motion programs cannot be
executed in one scan. For this reason, motion programs are executed and controlled by special system’s motion
management function.

When running a motion program, pay attention to the followings:.

IMPORTANT • The motion program registered in M-EXECUTOR cannot be executed using a MSEE command.
• Multiple motion programs with the same number cannot be executed using a MSEE command.
• A subroutine (MPS) cannot be executed from a MSEE command in a ladder.
• It can only be referenced from a motion program (MPM, MPS).
• A sequence program (SPM, SPS) cannot be executed from a MSEE command in a ladder.

4-3
 4 Motion Programs
4.3.1 How to Run a Motion Program

(2) Registering it to the M-EXECUTOR Program Execution Definition

After creating a motion program, register it in the M-EXECUTOR program execution definition screen.
The programs registered in the M-EXECUTOR program execution definition screen are executed in ascending
numeric order.
The execution example is shown in the figure below.

Motion program
MPM001

VEL [a1]5000 [b1]..

FMX T10000000;
IAC T25;
IDC T30;
MOV [a1]300. [b1]..
MVS [a1]200. [b1]..
.
.
M-EXECUTOR program execution definition .
END

MPM002

END

Subprogram
MPM003
MPS101

MSEE
MPS101

END RET

To start up the motion program, after the motion program registration, use a control signal to turn ON the
request for the program operation startup.
The motion program registered in M-EXECUTOR is executed at a scan cycle, but similar to a ladder, the
whole program cannot be executed at a single scan. In case of the motion program, a motion management
function in the system carries out an execution control exclusive for the motion programs.

IMPORTANT When registering a motion program to M-EXECUTOR, pay attention to the followings:
• Multiple motion programs with the same number cannot be registered.
• Multiple motion programs with the same number cannot be referenced using an indirect designation.

4-4
 4.3 Running a Motion Program

4.3.2 Registering the Program Execution

Programs can be registered in the two following ways.
The following examples shows when the motion program MPM001 is registered.

(1) Embedding an MSEE command in the Ladder Program

Embed an MSEE command into the H drawing
Set the MSEE command so that it is
executed every scan.

MPM number

(2) Registering MPM001 in the M-EXECUTOR

Register MPM001.

Motion Programs

4-5
 4 Motion Programs
4.3.3 Work Registers

4.3.3 Work Registers

When registering motion programs as described in 4.3.2 Registering the Program Execution, a work register to
control and monitor the program execution is assigned for each registered program. The work registers are used
to send instructions to the motion programs from the motion program control program, and to get the motion pro-
gram status.

(1) For a Motion Program Called from the Ladder Program Using an MSEE Command
Four words of the register (MA or DA) that are specified for Data of the MSEE command are
used as the work register.

Register No.
Work Register in the Example Contents I/O
1st word DW00000 Status flag Output
2nd word DW00001 Control signal Input
3rd word DW00002 Override for interpolation Input
4th word DW00003 System work number Input

(2) For a Motion Program Registered in an M-EXECUTOR Program Execution Definition

The M-EXECUTOR control registers are used as the work registers.
The M-EXECUTOR control registers are automatically defined by the system.

Work Registers
㧔M-EXECUTOR‫ޓޓޓޓ‬ Register No. Contents I/O
‫ޓޓ‬Control Registers) in the Example
Status IW0C00 Status flag Output
Control signal OW0C01 Control signal Input
Override OW0C02 Override for interpolation Input

The details of the work registers are described from the next page.

4-6
 4.3 Running a Motion Program

(a) Status Flag

Bit No Status Description

This bit is ON while the motion program is running.
Bit 0 Program running 0: The motion program is being stopped
1: The motion program is running
This bit is ON while the motion program is paused by Program Pause Request.
Bit 1 Program paused 0: The program is not paused by Program Pause Request.
0 to 3
1: The program is paused by Program Pause Request.
This bit is ON while the motion program is stopped by Program Stop Request.
Program stopped by
Bit 2 0: The program is not stopped by Program Stop Request.
stop request
1: The program is stopped by Program Stop Request.
Bit 3 (Reserved) −
This bit is ON while a single program block operation is stopped during debug-
Single program block ging.
Bit 4
operation stopped 0: Other than single block operation stop
4 to 7 1: Single block operation stop
Bit 5 (Reserved) −
Bit 6 (Reserved) −
Bit 7 (Reserved) −
This bit is ON while a program alarm is occurring.
When this bit turns ON, the details of the error are written in the error informa-
Bit 8 Program alarm tion screen and S register.
0: No program alarm
1: A program alarm is occurring.
This bit is ON while the program is stopped during a break point during debug-
8 to B ging.
Bit 9 Stopped by break point
0: Not stopped at break point
1: Stopped at break point
Bit A (Reserved) −
This bit is ON while debugging the motion program.
Bit B In debug mode 0: Normal operation mode
1: Debug mode
Reports the running program type: Motion program or sequence program

Motion Programs
Bit C Program type 0: Motion program
1: Sequence program
This bit turns ON when the Program Operation Start Request is ON.
Start request signal
Bit D 0: Program Operation Start Request OFF
history
1: Program Operation Start Request ON
This bit turns ON when the system work required to execute the motion pro-
C to F gram is not assigned, or when an MSEE command is embedded in a drawing
No system work error
Bit E other than the H drawing.
Scanning error
0: No system work error is not occurring.
1: No system work error is occurring.
This bit turns ON when the specified motion program number is outside the
range.
Main program number
Bit F Motion program number range: 1 to 256
exceeded error
0: Within the range
1: Outside the range

4-7
 4 Motion Programs
4.3.3 Work Registers

(b) Control Signal

: Signals with this indication must be kept ON until they are accepted by the system.
: Signals with this indication should be ON for one high-speed scan.

Bit No Status Description

Request to start a motion program. When this bit status changes from OFF to ON, the
Bit 0 motion program will start running. However, this bit is disabled whenever an alarm is
Program operation
occurring in the motion program.
start request
0: Program Operation Start Request OFF
1: Program Operation Start Request ON
Request to pause a motion program.
Resetting this bit to 0 after pausing the motion program will restart the program from
Bit 1 Program pause
the point it was stopped.
request
0 to 3 0: Program Pause Request OFF (Cancel the pause request)
1: Program Pause Request ON
Request to stop a running motion program.
Bit 2 Program stop
Turning this bit ON while the axis is moving will cause a motion program alarm.
request
0: Program Stop Request OFF, 1: Program Stop Request ON
Request for program single block mode.
Bit 3 Program single
Use this bit instead of the debugging operation
block mode
0: Program Single Block Mode Selection OFF
selection
1: Program Single Block Mode Selection ON
Changing this bit status from OFF to ON will start the program single block operation
Bit 4 (step-by-step operation). This bit is valid when the control signal bit 3 (Program single
Program single
block mode selection) is ON.
block start request
0: Program Single Block Start Request OFF
1: Program Single Block Start Request ON
Request to reset a motion program and a alarm.
Bit 5 Program reset and
4 to 7 0: Program reset and Alarm Reset Request OFF,
alarm reset request
1: Program reset and Alarm Reset Request ON
Bit 6 Program Request to restart a program that has been stopped by a motion program alarm or the
continuous Program Stop Request, from the point it was stopped.
operation start 0: Program Continuous Operation Start Request OFF
request 1: Program Continuous Operation Start Request ON
Bit 7 (Reserved) −
Turning this bit ON while moving the axis using an SKP command (when SS1 is
Bit 8 selected for the skip input signal) will decelerate the axis to a stop and cancel the mov-
Skip 1 information
ing amount that remains.
0: SS1 signal OFF, 1: SS1 signal ON
Turning this bit ON while moving the axis using an SKP command (when SS2 is
8 to B Bit 9 selected for the skip input signal) will decelerate the axis to a stop and cancel the mov-
Skip 2 information
ing amount that remains.
0: SS2 signal OFF, 1: SS2 signal ON
Bit A (Reserved) −
Bit B (Reserved) −
Bit C (Reserved) −
Bit D System work Turn this bit ON to specify the system work number.
number setting 0: Do not specify the system work number, 1: Specify the system work number
C to F Turn this bit ON to enable the interpolation override.
Bit E Override setting for
0: Disable the interpolation override.
interpolation
1: Enable the interpolation override.
Bit F (Reserved) −

4-8
 4.3 Running a Motion Program

(c) Interpolation Override

Set the override value for execution of an interpolation command MVS, MCW, MCC, or SKP.
Interpolation override refers to change the output ratio of the speed reference for axis movement executed by
an interpolation related command.
Interpolation override is enabled when the bit E (Override setting for interpolation) of the control signal is
ON.
• Setting range of interpolation override: 0 to 32767
• Unit: 1 = 0.01%

(d) System Work Number

When using an MSEE command to call a motion program from the ladder program, set the system work
number to call the motion program. The set system work number is valid when the bit D (System work num-
ber setting) is ON.
• Setting range: 1 to 16

Note: 1. When using the M-EXECUTOR, the system work number cannot be set. A system work number that is
same as the definition number is used.
2. Do not specify the system work number for the M-EXECUTOR by the MSEE command when using both
the MSEE command and the M-EXECUTER. Doing so will cause a no system work error.
System work number for the M-EXECUTOR: 0 to the number set in Program definition number.

Motion Programs

4-9
 4 Motion Programs
4.3.3 Work Registers

• Timing Chart for Motion Program Control Signals

The following figure shows an example of a timing chart for motion program control signals.

 Program Operation Start Request

Control signal:
Operation start request
Status: Operating

Distribution

 Pause Request

Control signal:
Operation start request
Control signal: Pause request

Status: Operating One scan

Status: Paused

Distribution

 Stop Request

Control signal:
Operation start request
Control signal: Stop request

Control signal: Alarm clear

Status: Operating

Status: Stopped
One scan

Status: Alarm
One scan

Distribution
(Interpolation related commands)

Distribution
(Positioning related commands)

Distribution (Zero point return)

IMPORTANT • Turning ON the Stop Request while the axis is being moved by a motion command will cause an alarm.
• Turning ON the Stop Request while the axis is being moved by an interpolation related command will
immediately stop the axis.
Use the Pause Request to decelerate the axis to a stop.
• During execution of the Zero Point Return (ZRN) command, Pause Requests will not be accepted.
Use the Stop Request to stop the zero point return operation.

A program example for motion program control is given in B.1 Programs for Controlling Motion Program Exe-
cution.

4-10
 4.4 Advanced Programming

4.4 Advanced Programming

4.4.1 Indirect Designation of a Program Number Using a Register
This method calls the program (MPM) that matches the value stored in the register.
(1) When Using a Motion Program called by a MSEE Command from
the Ladder Program
Specify a register (M or D register) to be used for the indirect designation in the Program No. of the MSEE com-
mand.

MPM003

Motion program call command ABS;

MOV[X] _ [Y] _
Store 3 in the
register MVS[X] _ [Y] _ F
MW00200.
IOW MB0001
MW00200 = 3
MOV[X] _ [Y] _
.
.
Register number .
Ladder program Motion program

(2) For a Motion Program Registered in the M-EXECUTOR Program Execution Definition
Select Indirect under Setting. The register to be used for indirect designation will be assigned automatically by
the system.

MPM003

Motion Programs
ABS;

MOV[X] _ [Y] _

MVS[X] _ [Y] _ F
Stores 3 in the
register
OW0C00 IOW MB0001

OW0C00 = 3 MOV[X] _ [Y] _



M-EXECUTOR Program Definition

Motion program

4-11
 4 Motion Programs
4.4.2 Controlling the Motion Program Directly from an External Device

4.4.2 Controlling the Motion Program Directly from an External Device

The M-EXECUTOR Module has a function used to allocate the M-EXECUTOR’s control register to a desired
register.
With this function, data can automatically be exchanged between the M-EXECUTOR’s control register and the I/
O register connected to an external device. Thus, this function allows an external device to directly control the
motion program.
The following diagram shows a setting example for this function.

M-EXECUTOR Register Allocation window

Set desired registers for Allocation register and

Allocation Contact interlock.

Execution control by
motion management function
Program number MPM001
Status
Allocated VEL [a1] 5000 [b1]..
Control signal FMX T10000000;
interlock Override for interpolation IAC T25;
External devices Allocated registers contacts
Signals from external device IDC T30;
 Host PLC
MOV [a1] 300. [b1]..
 Touch panel  Program number References the MVS [a1] 200. [b1]..
 Switch  Program operation start M-EXECUTOR .
control registers .
 LED, etc  Program pause
.
 Program stop, etc. .
Data will be END
exchanged
in high-speed Motion program
scan cycle.

 The allocated interlock contact is used as an interlock for motion program execution. Always allocate an inter-
INFO lock contact in Allocation Contact interlock when allocating a register in Allocation register.
The following processes are executed according to the ON/OFF status of the allocated interlock contact.
• When the allocated interlock contact is ON, the allocated register exchanges data with the M-EXECUTOR control reg-
ister in a high-speed scan cycle, and motion program execution is enabled during the data exchange.
• When the allocated interlock contact is OFF, the allocated register does not exchange data with the M-EXECUTOR
control register, and motion program execution is disabled.
• When the Allocation Contact interlock is changed from ON to OFF while the motion program is running, the motion
program will stop running and the axes will stop moving. At this moment, the motion program alarm “1Bh: Emergency
Stop Command in Execution” will occur, and bit 8 (Program alarm occurring) of the status flag will turn ON.
Use the following procedure to restart the motion program.
1. Set the interlock contact from OFF to ON.
2. Set bit 5 (Program reset and alarm reset request) of the control signal to ON.
3. Confirm that bit 8 (Program alarm) of the status flag turns OFF.
4. Set bit 5 (Program reset and alarm reset request) of the control signal to OFF.
5. Set bit 0 (Program operation start request) of the control signal to ON.

4-12
 4.4 Advanced Programming

4.4.3 Monitor the Motion Program Execution Information Using S Register

Using S register (SW03200 to SW04191) allows you to monitor the motion program execution information.
The way to monitor the execution information for a motion program registered in the M-EXECUTOR program
execution definition differs from that for a motion program referenced by an MSEE command from a ladder pro-
gram.
The way to monitor it in each case is shown as follows:
(1) A Motion Program Referenced by an MSEE Command from a Ladder Program
When a motion program is referenced by an MSEE command from a ladder program, the way differs, depending
on the “Bit D” setting (system work number setting) of the motion program control signal, as follows:
(a) The motion program control signal “Bit D, System Work Number Setting” = ON
The execution information is reported to “Program Information Using Work n” register (SW03264 to
SW04191). For example, when “System Work Number” = 1, the motion program execution information can
be monitored in SW03264 to SW03321 “Program Information Using Work 1.”

(b) The motion program control signal “Bit D, System Work Number Setting” = OFF
The used system work is automatically decided by system. Thus, to check which work is used, refer to “Run-
ning Program Number” (= SW03200 to SW03215). For example, when you want to monitor the motion pro-
gram MPM001 and SW03202 = 1, as used the work number = 3, the execution information for the motion
program MPM001 can be monitored in “Program Information Using Work 3” (= SW03380 to SW03437).

(2) A Motion Program Registered in the M-EXECUTOR Program Execution Definition

For motion programs registered in the Program definition tab page of the M-EXECUTOR, the system work
numbers to be used are the same as for the Program execution registry number registered in the M-EXECUTOR
Module.
For example, a motion program is registered as “Definition No.” = 3, the used system work number is “System
Work” = 3. In this case, the execution information for the motion program can be monitored in “Program Infor-
mation Using Work 3” (= SW03380 to SW03437).

For more information on the register area of the motion program execution information, refer to the subsequent
pages.

Motion Programs

4-13
 4 Motion Programs
4.4.3 Monitor the Motion Program Execution Information Using S Register

(a) Register Areas for Motion Program Execution Information

Motion program execution information Executing program number

SW03200 SW03200 Program number used by work 1
Executing program number
(No. of main program currently Program number used by work 2
SW03201
executing) 16W
SW03216 SW03202 Program number used by work 3
Reserved by the system. 16W
SW03232 SW03203 Program number used by work 4
Executing Program Bit
(Executing when corresponding SW03204 Program number used by work 5
bit is ON) 16W
SW03205 Program number used by work 6
SW03248
Reserved by the system. 16W Program number used by work 7
SW03206
SW03264
Program information used by
58W SW03207 Program number used by work 8
work 1
SW03222 SW03208 Program number used by work 9
Program information used by
work 2 58W
SW03209 Program number used by work 10
SW03380 Program information used by SW03210 Program number used by work 11
58W
work 3
SW03211 Program number used by work 12
SW03438 Program information used by
work 4 58W SW03212 Program number used by work 13

SW03496 SW03213 Program number used by work 14

Program information used by
58W
work 5 SW03214 Program number used by work 15
SW03554 SW03215 Program number used by work 16
Program information used by
58W
work 6
SW03612
Program information used by 58W
work 7
SW03670
Program information used by
58W Executing program bit
work 8
SW03728 SW03232 MP 016 (Bit15) to MP 001 (Bit0)
Program information used by
58W
work 9 SW03233 MP 032 (Bit15) to MP 017 (Bit0)
SW03786
Program information used by SW03234 MP 048 (Bit15) to MP 033 (Bit0)
58W
work 10
SW03235 MP 054 (Bit15) to MP 049 (Bit0)
SW03844
Program information used by
58W SW03236 MP 080 (Bit15) to MP 055 (Bit0)
work 11
SW03902 SW03237 MP 096 (Bit15) to MP 081 (Bit0)
Program information used by
58W
work 12 SW03238 MP 112 (Bit15) to MP 097 (Bit0)
SW03960
Program information used by SW03239 MP 128 (Bit15) to MP 113 (Bit0)
58W
work 13
SW03240 MP 144 (Bit15) to MP 129 (Bit0)
SW04018
Program information used by
58W SW03241 MP 160 (Bit15) to MP 145 (Bit0)
work 14
SW04076 SW03242 MP 176 (Bit15) to MP 161 (Bit0)
Program information used by 58W
work 15 SW03243 MP 192 (Bit15) to MP 177 (Bit0)
SW04134
Program information used by SW03244 MP 208 (Bit15) to MP 193 (Bit0)
58W
work 16
SW03245 MP 224 (Bit15) to MP 209 (Bit0)
SW04192
SW03246 MP 240 (Bit15) to MP 225 (Bit0)
Reserved by the system. 928W
SW03247 MP 256 (Bit15) to MP 241 (Bit0)
SW05120 Reserved by the system. 64W Note: indicates M or S.

4-14
 4.4 Advanced Programming

(b) Details of Program Information Used by Work n

Program information used by work n

+0
Program status
+1
Program control signal Executing program number
+2
Parallel 0 information 3W Executing block number
+5
Parallel 1 information 3W Alarm code

+8
Parallel 2 information 3W

+11 3W
Parallel 3 information
+14
Parallel 4 information 3W
+17
Parallel 5 information 3W

+20
Parallel 6 information 3W

+23
Parallel 7 information 3W

+26
Logical axis #1 program current position 2W
+28 Logical axis #2 program current position 2W
+30
Logical axis #3 program current position 2W
+32
Logical axis #4 program current position 2W
+34
Logical axis #5 program current position 2W
+36 Logical axis #6 program current position 2W
+38 Logical axis #7 program current position 2W
+40 Logical axis #8 program current position 2W
+42 Logical axis #9 program current position 2W
+44
Logical axis #10 program current position 2W
+46
Logical axis #11 program current position 2W

Motion Programs
+48
Logical axis #12 program current position 2W
+50
Logical axis #13 program current position 2W
+52
Logical axis #14 program current position 2W
+54
Logical axis #15 program current position 2W
+56
Logical axis #16 program current position 2W

INFO For a list of S registers, refer (2) Using S Register in 10.2.3 Confirming the Alarm Code.

4-15
 5
Sequence Programs

This chapter describes sequence program types and how to run them.

5.1 Sequence Program Types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2

5.2 How to Run a Sequence Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3
5.2.1 How to Run a Sequence Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3
5.2.2 Registering Program Execution - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4
5.2.3 Work Register - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5

Sequence Programs

5-1
 5 Sequence Programs

5.1 Sequence Program Types

Sequence programs are of the following two types.
Designation
Category Features Number of Programs
Method
Calling from the M-EXECU- Up to 256 programs of the following types
SPM
Main Program TOR program execution defini- can be created:
= 1 to 256
tion • Main motion program
• Sub motion program
SPS
Subprogram Calling from the main program • Main sequence program
= 1 to 256
• Sub sequence program

INFO  The program numbers of sequence programs are managed in the same manner as the motion program num-
bers. Assign a different number for each program number.
• Motion program MPM: Program number of MPS
• Sequence program SPM: Program number of SPS

5-2
 5.2 How to Run a Sequence Program

5.2 How to Run a Sequence Program

5.2.1 How to Run a Sequence Program
A sequence program is executed by registering it in the Program definition tab page of the M-EXECUTOR.
Sequence program
SPM001

IF MW000<32767;
MW000=MW000+1;
ELSE;
MW000;
IEND;

M-EXECUTOR program execution definition END

SPM002

END

Sequence subprogram
SPM003
SPS101

SSEE
SPS101

END RET

When the execution type is set to Sequence Program (H scan) or Sequence Program (L scan), the program is
executed at the time the definition is saved. When the execution type is set to Sequence Program (Start), the
program is executed when the power supply is turned ON again next time.
An operation example of running a sequence program is shown below.

(1) M-EXECUTOR Program Definition Tab Page

Sequence Programs

5-3
 5 Sequence Programs
5.2.2 Registering Program Execution

(2) Execution Timing

The following diagram illustrates program execution timing.
As shown in the following diagram, the programs are executed in the order they are registered in the Program
definition tab page.

Start SPM001 DWG.A

High-speed scan cycle High-speed scan cycle

High-speed scan SPM003 MPM004 SPM005 DWG.H SPM003 MPM004 SPM005 DWG.H

Low-speed scan cycle

Low-speed scan SPM002 SPM002 DWG.L

The shaded area is an interruption DWG.X : Ladder program

from processing that has higher processing
priority.

5.2.2 Registering Program Execution

Register the programs to run as shown below. The following screenshot shows an example of registering the
sequence program SPM001 to run in a high-speed scan cycle.

Register the program to run.

INFO Only the direct designation is available for sequence programs. The indirect designation cannot be used.

5-4
 5.2 How to Run a Sequence Program

5.2.3 Work Register

A status flag to monitor program status is assigned to the sequence program in 5.2.2 Registering Program Execu-
tion. The status flag of a sequence program can be obtained by the following equation.

IW + 4 × (Program definition number - 1)

M-EXECUTOR’s I/O start register number
 The I/O start register number can be confirmed in the Module Configuration window.

I/O start register number

(1) Status Flag of Sequence Program

Bit No Status Description
This bit is ON while the sequence program is running.
Bit 0 Program running
0: The sequence program is being stopped, 1: The sequence program is running.
0 to 3 Bit 1 (Reserved) −
Bit 2 (Reserved) −
Bit 3 (Reserved) −
Bit 4 (Reserved) −
Bit 5 (Reserved) −
4 to 7
Bit 6 (Reserved) −
Bit 7 (Reserved) −
This bit turns ON when any of the following errors occur while calling the sequence
program using an SSEE command. This bit turns OFF when the error is corrected.

Sequence Programs
• The called program is not registered.
Program alarm is • The called program is not a sequence program.
Bit 8
occurring • The called program is not a subprogram. (The main program is called.)
• The called program number exceeded the set range.
8 to B • Over nested
0: No program alarm (Normal), 1: Program alarm occurring
Stopping at This bit is ON when the program is stopped at a break point during debugging.
Bit 9
break point 0: Not stopped at break point, 1: Stopped at break point
Bit A (Reserved) −
This bit is ON while the program is running in debug mode.
Bit B In debug mode
0: Normal operation mode, 1: Debug mode
Reports the running program type: Motion program or sequence program
Bit C Program type
0: Motion program, 1: Sequence program
This bit is ON while the sequence program is running.
C to F Bit D Start request history
0: Sequence program stopped, 1: Sequence program running
Bit E (Reserved) −
Bit F (Reserved) −

5-5
 6
Variables (Registers)

This chapter describes the details of variables that can be used in both motion programs and
sequence programs.

6.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2

6.1.1 Variable Types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
6.1.2 Global Variables and Local Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4

6.2 Using Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7

6.2.1 System Variables (S Registers) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7
6.2.2 Data Variables (M Registers) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
6.2.3 Input Variables (I Registers) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9
6.2.4 Output Variables (O Registers) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11
6.2.5 C Variables (C Registers) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
6.2.6 D Variables (D Registers) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14

6.3 How to Use Subscripts i, j - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15

Variables (Registers)

6-1
 6 Variables (Registers)
6.1.1 Variable Types

6.1 Overview
This section summarizes the variables used in motion programs.

6.1.1 Variable Types

In a motion program and a sequence program, variables can be coded in place of numeric values. When variables
are used in actual operations, the numeric values stored in the variable area are retrieved.

(1) Types of Variable (Registers)

The seven types of register shown in the following table can be used as variables in a motion program and a
sequence program. S, M, I, O, and C registers are global variables that can be used by both motion programs and
sequence programs. D registers are local variables that are defined for each program and cannot be used by other
programs.

Table 6.1 Types of Variable

Character-
Type Name Designation Method Range Description
istic
Registers that can be referenced by the sys-
SW00000 tem.
S System Registers SB,SW,SL,SFnnnnn
to SW08191 Register number nnnn is a decimal expres-
sion.
Registers common to all programs.
MW00000 Used as interfaces between programs.
M Data Registers MB,MW,ML,MFnnnnn
to MW65534 Register number nnnn is a decimal expres-
sion.
Registers used for input data.
Register number hhhh is a hexadecimal
IW0000
I Input Registers IB,IW,IL,IFhhhh expression. Common to
to IW7FFF
The register numbers 8000 and onward are programs
used as motion monitoring parameters.
Registers used for output data.
Register number hhhh is a hexadecimal
OW0000
O Output Registers OB,OW,OL,OFhhhh expression.
to OW7FFF
The register numbers 8000 and onward are
used as motion setting parameters.
Registers that can be referenced only by a
Constant CW00000 program.
C CB,CW,CL,CFnnnnn
Registers to CW16383 Register number nnnn is a decimal expres-
sion.
Internal registers unique to each program.
Can only be used by the corresponding pro-
gram.
DW00000 Unique to a
D D Registers DB,DW,DL,DFnnnnn The actual range to be used is specified by
to DW16383 program
the user on the MPE720.
Register number nnnn is a decimal expres-
sion.

IMPORTANT The # registers cannot be used in motion programs or sequence programs. If a # register is used in a motion
program or sequence program, a syntax error will occur when saving the program.

6-2
 6.1 Overview

(2) Data Types

As shown in the following table, the data types are bit, integer, double integer, and real number data.
Use them as required.
Table 6.2 Data Types

Symbol Data Type Numeric Range Remarks

Used to determine the relay sequence and the ON/OFF
B Bit ON (1), OFF (0)
condition.
-32768 to +32767 Used for arithmetic operations. The parentheses ( ) show its
W Integer
(8000H to 7FFFH) use in logic operations.
Double -2147483648 to +2147483647 Used for arithmetic operations. The parentheses ( ) show its
L
Integer (80000000H to 7FFFFFFFH) use in logic operations.
F Real Number ± (1.175E-38 to 3.402E + 38) Used for high-level arithmetic operations.

One digit to indicate bit 6 is added

to the register number 00100.

Data Type and Register Designation

[ MB001006 ] Bit type

Integer type
F E D C B A 9 8 7 6 5 4 3 2 1 0
[ MW00100 ]
[ ML00100 ]
[ MF00100 ]
[ MW00101 ]

[ MW00102 ]
[ ML00102 ]
[ MF00102 ]
[ MW00103 ]

Double integer type

[ MB00103A ] Bit type and real number type

One word for each One digit to indicate bit A is One word for the next register number is
register number added to the register number included in the coded register number 00102.
00103. Therefore, the register number is increased by two.

Variables (Registers)

6-3
 6 Variables (Registers)
6.1.2 Global Variables and Local Variables

6.1.2 Global Variables and Local Variables

(1) Global Variables
Global variables can be used in common by ladder logic programs, user functions, and the drawings in motion
programs and sequence programs. In other words, the calculated results for a given ladder logic program can be
used by other user functions and motion programs. The global variable size is stored by the system for each vari-
able. (See the following illustration.)

Ladder programs User functions Motion programs and

Sequence programs

Global variables

S registers M registers I registers O registers C registers

8192 words 65535 words 32768 words 32768 words 16384 words
+ +
Monitoring Setting
parameters parameters

Fig. 6.1 Global Variables

(2) Local Variables

Local variables are used locally by each program. They cannot be used by other programs. Local variables are
stored in the corresponding program memory.

Motion program #1 Sequence program #3

(MPM001) (SPM003)

MSEE MPS002; SSEE SPS004;

Subprogram Subprogram
(MPS002) (SPS004)

D register D register D register D register

6-4
 6.1 Overview

The number of local variables (D registers) to be used in each program can be specified in the Program Prop-
erty window or Motion Program Configuration Definition window. Up to 16384 words can be used for one
drawing.
Program Property window

Right-click

Motion Program Configuration Definition window

Click

INFO # registers cannot be used in motion programs or sequence programs.

Variables (Registers)

6-5
 6 Variables (Registers)
6.1.2 Global Variables and Local Variables

IMPORTANT  Precautions for Variable Operations

Storing data in a variable of a different data type will result in:

• Use a Substitute command (=).

Format • Write a destination register on the left and the operation on the right.
MW00100 = MW00101 + MW00102;
• When real number data is stored in an integer type variable.
MW00100 = MF00200; The real number data is converted into integer
(00001) (1.234) data and stored in the destination register.
Note: Be careful to avoid a round-off error, caused when storing real number data
into an integer type variable.
Specify the round-off method when storing the real number in an integer
type variable in the Motion Program Configuration Definition window.
MW00100 = MF00200 + MF00202;
(0124) (123.48) (0.02) The operation result will differ depending
Variable (0123) (123.49) (0.01) on the variable values to be calculated.
Operations
• When real number data is stored in a double integer type variable.
ML00100 = MF00200; The real number data is converted to integer
(65432) (65432.1) data and stored in the destination register.
• When double integer data is stored in an integer type variable.
MW00100 = ML00200; The lower 16 bits of double integer data are
(-00001) (65535) stored in the destination register as they are.
• When integer data is stored in a double integer type variable.
ML00100 = MW00200; The integer data is converted to double integer
(0001234) (1234) data and stored in the destination register.
Operations that • When integer data is stored in a bit type variable,
Cause Syntax MB000100 = 123; => Syntax error
Errors MB000100 = MW00100; => Syntax error

6-6
 6.2 Using Variables

6.2 Using Variables

This section explains how to use variables.

6.2.1 System Variables (S Registers)

(1) Overview
System variables (S registers) are provided by the MP2000-series Machine Controller system. They can be used
to read system error information, the operation status, and so on. S registers are global variables that can be used
in any motion program and sequence program. For details, refer to the user’s manual for the Machine Controller
to be used.

(2) Description
S registers are designated as follows:
SB000000 to SB08191F
SW00000 to SW08191
SL00000 to SL08190
SF00000 to SF08190
The variable number is expressed as a decimal. When bits are specified, the bit number is expressed in hexadeci-
mal.

(3) Programming Examples

EXAMPLE
• Bit Designation
OB000010 = SB000402|SB000403;

• Integer Designation
MW00100 = SW00041;

• Double Integer Designation

ML00100 = SL00062;

IMPORTANT The system registers (S) are used exclusively for reading. If they are written to, system operations cannot be
guaranteed.

Variables (Registers)

6-7
 6 Variables (Registers)
6.2.2 Data Variables (M Registers)

6.2.2 Data Variables (M Registers)

(1) Overview
M registers are general-purpose variables that can be used in ladder logic programs, user functions, motion pro-
grams, and sequence programs. These are global variables that can be used as interfaces between motion pro-
grams, sequence programs, and ladder logic programs.

(2) Description
M registers are designated as follows:
MB000000 to MB65534F
MW00000 to MW65534
ML00000 to ML65533
MF00000 to MF65533

The M register can be used as a variable for each type of operation and substituted for the operation result, or
specified as the variable for the positioning coordinate value or the speed. The variable number is expressed as a
decimal.

(3) Programming Examples

(a) Specifying the Position and Speed in Axis Move Commands as Variables
EXAMPLE
• Parameter Reference unit = mm
When decimal point position = 3
ML00100=100000;
→ 100.000 mm
ML00102=200000;
→ 200.000 mm
ML00104=300000;
→ 300.000 mm
ML00106=500000;
→ 500.000 mm/min
MVS [X]ML00100 [Y]ML00102 [Z]ML00104 FML00106;

(b) Using Variables in Operations

EXAMPLE
• Bit Designation
MB001001=IB00100 & IB00201;

• Integer Designation
MW00101=(MW00101 | MW00102) & FF0CH;

• Double Integer Designation

ML00200=((Ml00202*ML00204) / ML00206)*3;

• Real Number Designation

MF00200=((MF00202*MF00204) / MF00206)*3.14;

IMPORTANT When the travel distance coordinate values or speed is designated as a variable in the following motion com-
mands, double integer data must be used.
MOV, MVS, MCW/MCC, ZRN, SKP, MVT, EXM, POS, ACC, SCC, IAC, IDC, IFP, FMX, INP, VEL

6-8
 6.2 Using Variables

6.2.3 Input Variables (I Registers)

(1) Overview
These variables are used by input data and the servo monitor parameters. Although servo parameters can also be
used for writing data, the values can not be guaranteed.

(2) Description
I registers are designated as follows:
IW0000 to IW7FFF: Input data
IW8000 to IWFFFF: Motion monitoring parameters

(a) Register Numbers of Input Data

Depends on the address specified in the module configuration definition.

(b) Register Numbers of Motion Monitor Parameter

The number of controlled axes depends on the module type. The following indicates the number of controlled
axes for each module and the maximum number of modules.

Table 6.3 Number of Axes Controlled by One Module

Max. Number of Modules That Can Be Mounted on One

Machine Controller
Number of Axes

MP2500MD
MP2500(D)
MP2100M

MP2500M
MP2300S
Motion Module Controlled by One
MP2100

MP2200

MP2300

MP2310

MP2400
Module

MP2000 Series
16 max. *1 1 1 − 1 1 1 1 1 1 1
Built-in SVB
MP2100M/MP2500M
16 max. *1 − 1 − − − − − − 1 1
SVB-01
Optional Module
16 max. *1
SVB-01
Optional Module 14 14
16
2 − *2 2 1 3 − − − *2
SVA-01 *3
*3
*3
Optional Module
4
PO-01
* 1. The number of axes controlled by one built-in SVB or SVB-01 depends on the MECHATROLINK definitions.

Variables (Registers)
* 2. With MP2100M and MP2500MD, an expansion rack is required to use optional modules (SVB-01, SVA-01,
and PO-01).
* 3. The maximum number of optional modules (SVB-01, SVA-01, and PO-01) that can be mounted on MP2100M,
MP2200, or MP2500MD with an expansion rack.

6-9
 6 Variables (Registers)
6.2.3 Input Variables (I Registers)

Table 6.4 Register Numbers of Motion Parameter

Axis No.
Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 •• Axis 16
Circuit No.
1 8000 to 807F 8080 to 80FF 8100 to 817F 8180 to 81FF 8200 to 827F •• 8780 to 87FF
2 8800 to 887F 8880 to 88FF 8900 to 897F 8980 to 89FF 8A00 to 8A7F •• 8F80 to 8FFF
3 9000 to 907F 9080 to 90FF 9100 to 917F 9180 to 91FF 9200 to 9A7F •• 9780 to 97FF
4 9800 to 987F 9880 to 98FF 9900 to 997F 9980 to 99FF 9A00 to 997F •• 9F80 to 9FFF
5 A000 to A07F A080 to A0FF A100 to A17F A180 to A1FF A200 to A27F •• A780 to A7FF
6 A800 to A87F A880 to A8FF A800 to A87F A980 to A9FF AA00 to AA7F •• AF80 to AFFF
7 B000 to B07F B080 to B0FF B100 to B17F B180 to B1FF B200 to B27F •• B780 to B7FF
8 B800 to B87F B880 to B8FF B900 to B97F B980 to B9FF BA00 to BA7F •• BF80 to BFFF
9 C000 to C07F C080 to C0FF C100 to C17F C180 to C1FF C200 to C27F •• C780 to C7FF
10 C800 to C87F C880 to C8FF C900 to C97F C980 to C9FF CA00 to CA7F •• CF80 to CFFF
11 D000 to D07F D080 to D0FF D100 to D17F D180 to D1FF D200 to D27F •• D780 to D7FF
12 D800 to D87F D880 to D8FF D900 to D97F D980 to D9FF DA00 to DA7F •• DF80 to DFFF
13 E000 to E07F E080 to E0FF E100 to E17F E180 to E1FF E200 to E27F •• E780 to E7FF
14 E800 to E87F E880 to E8FF E900 to E97F E980 to E9FF EA00 to A97F •• EF80 to EFFF
15 F000 to F07F F080 to F0FF F100 to F17F F180 to F1FF F200 to F27F •• F780 to EFFF
16 F800 to F87F F880 to F8FF F900 to F97F F980 to F9FF F900 to F97F •• FF80 to FFFF
↑
Module number offset

INFO The register numbers for each axis of the motion monitor parameters can be obtained by the following equation.
The register start number of the motion monitor parameter = IW8000 + (Circuit No. -1) × 800h + (Axis No. -1)
× 80h

(3) Programming Examples

The Input data and servo monitor parameters are read out and referenced.

EXAMPLE • Bit Designation

MB01000 = IB0010 & IB00105;

• Integer Designation
MW0100 = IW8008;

• Double Integer Designation

ML0100 = IL8004;

6-10
 6.2 Using Variables

6.2.4 Output Variables (O Registers)

(1) Overview
These variables are used for output data and servo setting parameters.

(2) Description
O registers are designated as follows:
OW0000 to OW7FFF: Output data
OW8000 to OWFFFF: Motion setting parameter

(a) Register Numbers of Output Data

Depends on the address specified in the module configuration definition.

(b) Register Numbers of Motion Setting Parameter

The number of controlled axes depends on the module type. The following indicates the number of controlled
axes for each module and the maximum number of modules.

Table 6.5 Number of Axes Controlled by One Module

Max. Number of Modules That Can Be Mounted on One

Machine Controller
Number of Axes

MP2500MD
MP2500(D)
MP2100M

MP2500M
MP2300S
Motion Module Controlled by One
MP2100

MP2200

MP2300

MP2310

MP2400
Module

MP2000 Series
16 max. *1 1 1 − 1 1 1 1 1 1 1
Built-in SVB
MP2100M/MP2500M
16 max. *1 − 1 − − − − − − 1 1
SVB-01
Optional Module
16 max. *1
SVB-01
14 14
Optional Module 16 *2
2 − *2 2 1 3 − − −
SVA-01 *3
*3
*3
Optional Module
4
PO-01
* 1. The number of axes controlled by one built-in SVB or SVB-01 depends on the MECHATROLINK definitions.
* 2. With MP2100M and MP2500MD, an expansion rack is required to use optional modules (SVB-01, SVA-01,

Variables (Registers)
and PO-01).
* 3. The maximum number of optional modules (SVB-01, SVA-01, and PO-01) that can be mounted on MP2100M,
MP2200, or MP2500MD with an expansion rack.

6-11
 6 Variables (Registers)
6.2.4 Output Variables (O Registers)

Table 6.6 Register Numbers of Motion Parameter

Axis No.
Axis 1 Axis 2 Axis 3 Axis 4 Axis 5 •• Axis 16
Circuit No.
1 8000 to 807F 8080 to 80FF 8100 to 817F 8180 to 81FF 8200 to 827F •• 8780 to 87FF
2 8800 to 887F 8880 to 88FF 8900 to 897F 8980 to 89FF 8A00 to 8A7F •• 8F80 to 8FFF
3 9000 to 907F 9080 to 90FF 9100 to 917F 9180 to 91FF 9200 to 9A7F •• 9780 to 97FF
4 9800 to 987F 9880 to 98FF 9900 to 997F 9980 to 99FF 9A00 to 997F •• 9F80 to 9FFF
5 A000 to A07F A080 to A0FF A100 to A17F A180 to A1FF A200 to A27F •• A780 to A7FF
6 A800 to A87F A880 to A8FF A800 to A87F A980 to A9FF AA00 to AA7F •• AF80 to AFFF
7 B000 to B07F B080 to B0FF B100 to B17F B180 to B1FF B200 to B27F •• B780 to B7FF
8 B800 to B87F B880 to B8FF B900 to B97F B980 to B9FF BA00 to BA7F •• BF80 to BFFF
9 C000 to C07F C080 to C0FF C100 to C17F C180 to C1FF C200 to C27F •• C780 to C7FF
10 C800 to C87F C880 to C8FF C900 to C97F C980 to C9FF CA00 to CA7F •• CF80 to CFFF
11 D000 to D07F D080 to D0FF D100 to D17F D180 to D1FF D200 to D27F •• D780 to D7FF
12 D800 to D87F D880 to D8FF D900 to D97F D980 to D9FF DA00 to DA7F •• DF80 to DFFF
13 E000 to E07F E080 to E0FF E100 to E17F E180 to E1FF E200 to E27F •• E780 to E7FF
14 E800 to E87F E880 to E8FF E900 to E97F E980 to E9FF EA00 to A97F •• EF80 to EFFF
15 F000 to F07F F080 to F0FF F100 to F17F F180 to F1FF F200 to F27F •• F780 to EFFF
16 F800 to F87F F880 to F8FF F900 to F97F F980 to F9FF F900 to F97F •• FF80 to FFFF
↑
Module number offset

INFO The register numbers for each axis of motion setting parameters can be obtained by the following equation.
The register start number of the motion setting parameter
= OW8000 + (Circuit No. -1) × 800h + (Axis No. -1) × 80h

(3) Programming Examples

The output data and motion setting parameters are written in.
EXAMPLE
• Bit Designation
OB01000=MB001000 & IB00100;

• Integer Designation
OW8008=MW00100;

• Double Integer Designation

OL8010=ML00100+ML00200;

6-12
 6.2 Using Variables

6.2.5 C Variables (C Registers)

(1) Overview
C registers are variables to be referenced from programs. They cannot be used to write.

(2) Description
C registers are designated as follows:
CW00000 to CW16383

C registers cannot be written from programs.

(3) Programming Examples

EXAMPLE
Using Variables in Operations.
• Bit Designation
MB001000=CB001001;

• Integer Designation
MW00100=CW00100;

• Double Integer Designation

ML00100=CL00100;

• Real Number Designation

MF00100=CF00100;

Variables (Registers)

6-13
 6 Variables (Registers)
6.2.6 D Variables (D Registers)

6.2.6 D Variables (D Registers)

(1) Overview
D variables can be used only by the relevant program using specific internal registers for each motion program
and sequence program.

(2) Description
D registers are designated as follows:
DW00000 to DW16383 (Maximum)

The D register can be used as a variable for each type of operation and substituted for the operation result, or
specified as the variable for the positioning coordinate value or the speed. The variable number is expressed as a
decimal.
The size is specified in the program configuration definition (Motion Properties), and the default is 32words max.

(3) Programming Examples

(a) Specifying the Position and Speed in Axis Move Commands as Variables
EXAMPLE
• Parameter Reference unit = mm
When decimal point position = 3
DL00100=100000; → 100.000 mm
DL00102=200000; → 200.000 mm
DL00104=300000; → 300.000 mm
DL00106=500000; → 500.000 mm/min
MVS [A1]DL00100 [B1]DL00102 [C1]DL00104 FDL00106;

(b) Using Variables in Operations

EXAMPLE
• Bit Designation
DB001000=IB01001 & MB000101;

• Integer Designation
DW00102= (CW00103 | DW00104) & DW00105;

• Double Integer Designation

DL00106= (DL00108*ML00011) / ML00200;

• Real Number Designation

DF00200= (MF00202*DF00202)*3.14;

When the travel distance coordinate value or speed is designated as a variable in the following motion com-
IMPORTANT
mands, double integer data must be used.
MOV, MVS, MCW/MCC, ZRN, SKP, MVT, EXM, POS, ACC, DCC, SCC, IAC, IDC, IFP, FMX, INP, VEL

6-14
 6.3 How to Use Subscripts i, j

6.3 How to Use Subscripts i, j

Two type of registers (i, j) are available as dedicated registers to modify the relay and register numbers. Both i
and j have the same function. They are used when you want to handle a register number as a variable.
An example for each register data type is given as explanation.
(1) Bit Type Attached with a Subscript
The result is a register number added with i or j
I=2;
Equivalent
value.
DB000000=MB000000i; DB000000=MB000002; For example, MB000000i for i=2 is the same
as MB000002. Also, MB000000j for j=27 is
the same as MB00001B.

(2) Integer Type Attached with a Subscript

The result is a register number added with i
or j value.
J=30; Equivalent
DW00000=MW00031; For example, MW00010i for i=3 is the same
DW00000=MW00001j; as MW00013. Also, MW00001j for j=30 is
the same as MW00031.

(3) Long Integer or Real Type Attached with a Subscript

The result is a register number with an added i or j
Long integer type Upper word Lower word value.
MW00001 MW00000
For example, “ML00000j for j=1” is the same as
ML00000j for j = 0: ML00000
ML00001. Also, “MF00000j for j=1” is the same as
MW00002 MW00001 MF00001.
ML00000j for j = 1: ML00001 For double integer registers and real number regis-
ters, one word of register number and one word of
one added register number are used. Be careful to
Real type Upper word Lower word
MW00001 MW00000
avoid overlapping one with the other when using
MF00000j for j = 0: MF00000
subscripts. For ML00000j when j = 0 and
ML00000j when j = 1, for example, one word of
MW00002 MW00001 MW00001 will be overlapped.
MF00000j for j = 1: MF00001

Program example using subscript is as follows. Variables (Registers)

EXAMPLE
: The left program uses a subscript j and calculates the
: total amount of 50 registers from ML00100 to
ML00200 = 0 ; ML00198, and stores the total amount in ML00200.
J=0;
WHILE J < 100 ;
ML00200 = ML00200 + ML00100j ;
J=J+2;
WEND ;
:
:

6-15
 6 Variables (Registers)

INFO • The following versions of system software and programming tool MPE720 are required to use subscripts i and j.

MP2000 Series
Required Version MPE720 Required Version
Machine Controller
MPE720 Ver.5 Ver.5.41 or later
All models Ver.2.63 or later Ver.6.06 or later
MPE720 Ver.6
Ver.6.06 Lite or later

• Both upper and lower case letters can be used for subscripts i and j.

i = 0;
I = 0;
DW00000 = MW00000i ;
DW00000 = MW00000I ;

6-16
 7
Programming

This chapter describes the rules for creating motion programs and sequence programs.

7.1 Motion Program Format - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2

7.1.1 Motion Program Structure - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
7.1.2 Block Format - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
7.1.3 Using Constants and Variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7

7.2 Motion Module Parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9

7.2.1 Axis Type Selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9
7.2.2 Reference Unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9
7.2.3 Electronic Gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-10
7.2.4 Speed Reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-12
7.2.5 Acceleration/Deceleration Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-12

7.3 Group Definition - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-13

7.4 Priority Levels of Operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-15
7.5 Commands and Execution Scans - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-17
7.5.1 Command Types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-17
7.5.2 List of Command Types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-18

7.6 Sequence Program Format - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-19

Programming

7-1
 7 Programming
7.1.1 Motion Program Structure

7.1 Motion Program Format

7.1.1 Motion Program Structure
A motion program contains a program number, arbitrary comment, program body, and END command. The pro-
cess executed by a motion program is coded in the program body. The motion program basic structure is shown
below.

Program number and comment

Program body

INFO One line of program number and comment can be omitted.

7.1.2 Block Format

One block is one process execution unit. The program body consists of one or more than one block. The format
of one block is shown below. The details of each item are described from the next page.

LABEL: MVS [A1]20.0 [B1]30.0 [C1]40.0 F300000 ; " Comment "

(4) Coordinate word

(7) Comment
(3) Logical axis name
(6) End of block
(2) Motion language command
(5) Specific character
(1) Label

No. Items Description

(1) Label Indicates the destination of PFROK and SFORK command.
Motion language
(2) Specifies a motion program command.
command
(3) Logical axis name Specifies a logical axis name set in the Group Definition window.
Specifies the axis coordinate value or the incremental travel amount
(4) Coordinate words
of axis.
(5) Specific character Specifies supplemental data for the motion command.
(6) End of block Specifies the end of a block.
(7) Comment Describes the program comment.

7-2
 7.1 Motion Program Format

(1) Label
A label consists of a character string containing from one to eight alphanumeric characters or symbols, a colon
[:], and a space or TAB.

LABEL : ; Type Available Characters

Letters A to Z, a to z
Space or TAB
Numbers 0 to 9
Colon Symbols _ (hyphen)
A character string Note: Numbers cannot be used at the heads
containing one to eight of labels.
characters

A label is required when using a Parallel Fork command (PFORK) or Selective Fork command (SFORK) com-
mand. If a PFORK or SFORK command is not used, the label description is not required.

EXAMPLE
Label Coding Example

PFORK LAB1, LAB2;

LAB1: ZRN [A1]0 [B1]0 [C1]0;
JOINTO LAB3;
LAB2: MVS [D1]100.0 [E1]200.0 [F1]300.0;
JOINTO LAB3;
LAB3: PJOINT;

(2) Motion Language Commands

Code a motion language command.
Refer to Chapter 8 Command Reference or Appendix A Motion Language Commands for information on motion
language commands.

(3) Logical Axis Name

Code a logical axis name set in the Group Definition window. The logical axis name must be enclosed in brack-
ets [ ].

MVS[ A1 ] 20.0 ; Type Available Characters

Letters A to Z, a to z
Logical axis name
Programming

Numbers 0 to 9
(A character string
containing from one
to eight characters)

7-3
 7 Programming
7.1.2 Block Format

(4) Coordinate Words

A coordinate word is a numerical value or a variable to be coded after an axis name. A coordinate word specifies
the reference position, speed, acceleration/deceleration rate, and other items.
• Using Numbers for a Coordinate Word
Write a numerical value after an axis name to directly specify the coordinate word.
Both integers and real numbers can be used for a numerical value. However, special care must be taken
when using integers.
When the reference unit is set to 0.001 mm and the reference position “1000 (integer numbers)” is written
in the coordinate word, for example, the Machine Controller interprets it as 1.000 mm. When writing
“1.000 (real numbers),” the Machine Controller interprets it as it is (1.000 mm).
EXAMPLE

MVS [A1]1000; → 1.000 mm

or
MVS [A1]1.000; → 1.000 mm
or
MVS [A1]1.; → 1.000 mm

• Using a Variable for a Coordinate Word

Write a double integer type variable after an axis name to indirectly specify the coordinate word.
When the reference unit is set to 0.001 mm with indirect designation using a variable, and the register
value is set to 1000, the Machine Controller interprets the coordinate word as 1.000 mm in the same way
as for an integer value set in the above example.
EXAMPLE

ML00000 = 1000;
MVS [A1]ML00000; → 1.000 mm

INFO The coordinate word unit depends on the command and motion module settings. Refer to 7.2.2 Reference Unit for informa-
tion on the coordinate word unit.

7-4
 7.1 Motion Program Format

(5) Specific Characters

The meaning and application examples of each specific character are listed below. Refer to the Reference Section
indicated in the following table for details of each specific character.

Character Meaning Application Examples Reference Section

Interpolation MVS [A1]1000 [B1]2000 F3000000;
F 8.2.2 Linear Interpolation (MVS)
feed speed MVS [A1]1000 [B1]2000 FML00000;
Max.
FMX T30000000; 8.1.7 Maximum Interpolation Feed Speed
interpolation
FMX TML00000; Setting (FMX)
feed speed
TIM T100;
TIM TMW00000; 8.4.11 Dwell Time (TIM)
MVT [A1]1000 [B1]2000 T100; 8.2.9 Set Time Positioning (MVT)
MVT [A1]1000 [B1]2000 TML00000; 8.1.9 Interpolation Acceleration Time
Time Settings
IAC T100; Change (IAC)
T IAC TML00000; 8.1.10 Interpolation Deceleration Time
IDC T100; Change (IDC)
IDC TML00000;
8.2.3 Clockwise/Counterclockwise Circular
Number of Interpolation with Center Position Designa-
MCW [A1]1000 [B1]2000 U500 V500 T2 F3000000;
turns for tion (MCW, MCC)
MCW [A1]1000 [B1]2000 U500 V500 TML00000
circular 8.2.4 Clockwise/Counterclockwise Circular
F3000000;
interpolation Interpolation with Radius Designation
(MCW, MCC)
8.2.3 Clockwise/Counterclockwise Circular
Interpolation with Center Position Designa-
MCW [A1]1000 [B1]2000 R500 F3000000; tion (MCW, MCC)
R Radius of circle
MCW [A1]1000 [B1]2000 RML00000 F3000000; 8.2.4 Clockwise/Counterclockwise Circular
Interpolation with Radius Designation
(MCW, MCC)
8.2.3 Clockwise/Counterclockwise Circular
Circle center
Interpolation with Center Position Designa-
point MCW [A1]1000 [B1]2000 U500 V500 T2 F3000000;
tion (MCW, MCC)
U coordinate 1 MCW [A1]1000 [B1]2000 UML00000 V500 T2
8.2.4 Clockwise/Counterclockwise Circular
(horizontal ax- F3000000;
Interpolation with Radius Designation
is)
(MCW, MCC)
8.2.3 Clockwise/Counterclockwise Circular
Circle center Interpolation with Center Position Designa-
MCW [A1]1000 [B1]2000 U500 V500 T2 F3000000;
point tion (MCW, MCC)
V MCW [A1]1000 [B1]2000 U500 VML00000 T2
coordinate 2 8.2.4 Clockwise/Counterclockwise Circular
F3000000;
(vertical axis) Interpolation with Radius Designation
(MCW, MCC)
Interpolation
Programming

feed speed IFP P50; 8.1.8 Interpolation Feed Speed Ratio Set-
P
specified by IFP PML00000; ting (IFP)
percentage
Skip signal SKP [A1]1000 [B1]2000 F3000000 SS1; 8.2.8 Linear Interpolation with Skip Func-
SS
selection SKP [A1]1000 [B1]2000 F3000000 SS2; tion (SKP)
Movement
amount for EXM [A1]1000 D1000;
D 8.2.10 External Positioning (EXM)
external EXM [A1]1000 DML00000;
positioning
Number of SFR MB001000 N5 W10; 8.8.1 Bit Right Shift (SFR)
N
shifts SFR MB001000 NMW00000 W10; 8.8.2 Bit Left Shift (SFL)
8.8.1 Bit Right Shift (SFR)
BLK MW00100 DW00100 W10; 8.8.2 Bit Left Shift (SFL)
W Bit width
BLK MW00100 DW00100 WMW00000; 8.8.3 Block Move (BLK)
8.8.4 Clear (CLR)

7-5
 7 Programming
7.1.2 Block Format

Character Meaning Application Examples Reference Section

Motion
MPS subprogram MSEE MPS002; 8.4.5 Motion Subprogram Call (MSEE)
number
Sequence
SPS subprogram SSEE SPS002; 8.4.6 Sequence Subprogram Call (SSEE)
number

(6) End of Block

Insert a semi-colon at the end of block. There is no limitation on the number of lines in a block. Code the end of
a block to specify its end.
Always insert Line Feed after the end of a block.

EXAMPLE End of Block Coding Example

Line Feed
MOV [A1]1000; ̌Moves Axis A1”
Block end code
Line Feed
MOV [A1]1000 ̌Moves Axis A1̍
[B1]2000 ̌Moves Axis B1̍
[C1]3000; ̌Moves Axis C1̍
Block end code

(7) Comments
Either of the following two formats can be used.
• Code a Character String Enclosed in Double Quotation Marks
A character string enclosed in double quotation marks is interpret as a comment.

“ Character string ”

EXAMPLE Comment Coding Example 1

ZRN [A1]0 [B1]0 [C1]0; ” Zero point return of all axes ”

MVS [A1]100.0 [B1]200.0 [C1]300.0; ” 3-axis linear interpolation ”

• Code a Character String after One Double Quotation Mark

The characters from the double quotation mark to a Line Feed (until the Enter key is pressed) are interpret
as a comment.

Line Feed

“ Character string

EXAMPLE Comment Coding Example 2

“ Zero point return of all axes

ZRN [A1]0 [B1]0 [C1]0;

“ 3-axis linear interpolation

MVS [A1]100.0 [B1]200.0 [C1]300.0;

7-6
 7.1 Motion Program Format

7.1.3 Using Constants and Variables

(1) Constants
The constants that can be used in motion programs are listed below.
Classification Range Coding Examples
Decimal Integers -2147483648 to 2147483647 823, -2493, 123k, 123K
Hexadecimal Integers 00000000H to FFFFFFFFH FFFABCDEH, 2345H, FH
-214748.3648 to 214748.3647
Real Numbers Change according to the setting of the num- 763.0, 824.2, 234.56, -321.12345
ber of digits below the decimal point

INFO • The − (minus) sign cannot be omitted, but the + (plus) sign can.
[A1]+123 ⇒ [A1]123
[A1]-123 ⇒ [A1]-123

• A decimal integer value is multiplied by 1000 by adding K to the value. For a value such as position reference, adding a K
in place of three zeros makes it easy to read.

[A1]123k ⇒ [A1]123000
[A1]123K ⇒ [A1]123000

(2) Variables
The variables that can be used in motion programs are listed below.
Data Type
Classification Variable Type
Bit Word Long Floating point
S register SB SW SL SF
M register MB MW ML MF
Global Variables I register IB IW IL IF
O register OB OW OL OF
C register CB CW CL CF
Local Variables D register DB DW DL DF

Refer to Chapter 6 Variables (Registers) for details on variables.

EXAMPLE
A variable coding example is shown below.

M B 12345 F
Programming

Bit position: Valid only with bit data

Variable number
Data type: B, W, L, or F
Variable type: S, M, I, O, C, or D

7-7
 7 Programming
7.1.3 Using Constants and Variables

INFO 0 (zero) cannot be omitted in all constants and variables.

■ Examples Where 0 (zero) Can be Omitted

[A1]00123 => [A1]123

[A1]MW00010 => [A1]MW10
[A1]100.000 => [A1]100.

■ Examples Where 0 (zero) Cannot be Omitted

MPM001;(Program number coded at the head of program)

MSEE MPS002;

7-8
 7.2 Motion Module Parameters

7.2 Motion Module Parameters

Motion control using motion programs is determined according to the settings of the motion module parameters.
Set the motion module parameters referring to the connected machine before running motion programs.
This chapter describes the minimum settings of motion module parameters required for motion control using
motion programs.

7.2.1 Axis Type Selection

There are two types of position control: Finite length position control for return and other operations that are performed
only within a specified range, and infinite length position control, which is used for moving in one direction only.
Infinite length position control can reset the position to 0 after one rotation, e.g, belt conveyors, or move in one direc-
tion only, without resetting position after one rotation. The axis type selection sets which of these types of position con-
trol is to be used.
The details of the Axis Type Selection are listed in the following table.
Parameter No. Default
Parameter Type Name Description
(Register No.) Value
Specify the position control method for the con-
trolled axis.
0: Finite Length Axis
Set a finite length axis if control is performed
Function Selec- within a limited length or for an axis that uses
No. 1, bit 0 tion Flag 1, Axis infinite length control in one moving direction 0
Motion Fixed Selection only without resetting the position every rotation.
Parameters 1: Infinite Length Axis
Set an infinite length axis for an axis that uses
infinite length control while resetting the position
every rotation.
Infinite Length Set the reset position of the position data when an
No. 10 Axis Reset Posi- infinite length axis has been set for the axis type 360000
tion (POSMAX) using the reference unit.

7.2.2 Reference Unit

The unit of position reference that is input from a motion program is called a reference unit, and is a pulse, mm,
deg, inch, or μm. The reference unit is specified in Reference Unit Selection (motion fixed parameter 4).
The minimum reference unit that can be specified is determined by the setting of Number of Digits below Deci-
mal Point (motion fixed parameter 5).
Motion Fixed Parame- Motion Fixed Parameter 4: Reference Unit Selection
ter 5: Number of Digits
below Decimal Point 0: pulse 1: mm 2: deg 3: inch 4: μm
0: 0 digits 1 mm 1 deg 1 inch 1μm
1: 1 digits 0.1 mm 0.1 deg 0.1 inch 0.1 μm
Programming

2: 2 digits 0.01 mm 0.01 deg 0.01 inch 0.01μm Minimum

1 pulse* reference
3: 3 digits 0.001 mm 0.001 deg 0.001 inch 0.001 μm
unit
4: 4 digits 0.0001 mm 0.0001 deg 0.0001 inch 0.0001μm
5: 5 digits 0.00001 mm 0.00001 deg 0.0001 inch 0.00001μm

* When “pulse” is selected, the motion fixed parameter 5 (number of digits below decimal point) is invalid.

7-9
 7 Programming
7.2.3 Electronic Gear

INFO The range of reference positions for an axis move command are as follows:
Motion Fixed Motion Fixed Parameter 4: Reference Unit Selection
Parameter 5: Num-
ber of Digits below 0: pulse 1: mm, 2: deg, 3: inch, 4μm
Decimal Point
0: 0 digit -2147483648 to 2147483647 -2147483648 to 2147483647
1: 1 digit -2147483648 to 2147483647 -214748364.8 to 214748364.7
2: 2 digits -2147483648 to 2147483647 -21474836.48 to 21474836.47
3: 3 digits -2147483648 to 2147483647 -2147483.648 to 2147483.647
4: 4 digits -2147483648 to 2147483647 -214748.3648 to 214748.3647
5: 5 digits -2147483648 to 2147483647 -21474.83648 to 21474.83647

7.2.3 Electronic Gear

In contrast to the reference unit input to the Machine Controller, the moving unit in the mechanical system is
called the “output unit.” The electronic gear converts position or speed units from reference units to output units
for the mechanical system without going through an actual mechanism, such as a gear.
When the axis of the motor has rotated m times and the mechanical configuration allows the axis at the load to
rotate n times, this electronic gear function can be used to make the reference unit equal to the output unit.
The electronic gear function is enabled when the following settings are made:
• Fixed Parameter 6: Travel Distance per Machine Rotation
• Fixed Parameter 8: Servo Motor Gear Ratio
• Fixed Parameter 9: Machine Gear Ratio
Note: The electronic gear is disabled when the pulse is specified for the Reference Unit Selection.
The following setting example uses ball screw and rotating table workpieces.
(1) Parameter Setting Example Using Ball Screw
• Machine specifications: Ball screw axis rotates 5 times for every 7 rotations of the motor axis (Refer to the
following figure.)
• Reference unit: 0.001 mm
Motor
m = 7 rotations

Workpiece

Ball screw

P (pitch) = 6 mm/rotation
n = 5 rotations

To move the workpiece 0.001 mm for 1 reference unit input under the conditions outlined above, i.e., 1 reference
unit = 1 output unit, set the fixed parameters 6, 8, and 9 as follows:
• Fixed Parameter 6: Travel Distance per Machine Rotation = 6 mm/0.001 mm = 6000 (reference units)
• Fixed Parameter 8: Servo Motor Gear Ratio = m = 7
• Fixed Parameter 9: Machine Gear Ratio = n = 5
Note: Set the SERVOPACK gear ratio to 1:1.

7-10
 7.2 Motion Module Parameters

(2) Parameter Setting Example Using Rotating Table

• Machine specifications: Rotating table axis rotates 10 times for every 30 rotations of the motor axis (Refer
to the following figure.)
• Reference unit: 0.1°

Workpiece (Rotating table)

360°/rotation

n = 10 rotations

m = 30 rotations

Motor

To rotate the table 0.1° for 1 reference unit input under the conditions outlined above, i.e., 1 reference unit = 1
output unit, set the fixed parameters 6, 8, and 9 as follows:
• Fixed Parameter 6: Travel Distance per Machine Rotation = 360×/0.1× = 3600 (reference units)
• Fixed Parameter 8: Servo Motor Gear Ratio = m = 30
• Fixed Parameter 9: Machine Gear Ratio = n = 10
Note: 1. The gear ratio for fixed parameters 8 and 9 (m/n) may be constant, e.g., m = 3 and n = 1.
2. Set the SERVOPACK gear ratio to 1:1.

Programming

7-11
 7 Programming
7.2.4 Speed Reference

7.2.4 Speed Reference

The unit for the speed coded in a motion program can be selected: Reference unit/s, 10n reference unit/min.,
0.01% of rated speed, or 0.0001% of rated speed. Use bits 0 to 3 (Speed unit selection) of the motion setting
parameter OW03 to select the unit.
Motion Setting
Speed Unit Coordinate Word Designation Method
Parameter
0: Reference unit/s Designate a movement amount per second in reference units.
Designate a movement amount per minute in reference units.
When the reference unit is a pulse:
The designated value is multiplied by 1000.
Example: Reference unit = pulse
VEL [A1]1000;
Speed reference = 1,000,000 [pulses/min.].
OW03, bits 0
1: 10n reference unit/
to 3:
min. When the reference unit is not a pulse:
Speed unit
selection The designated value is handled as:
Example) Reference unit = mm
VEL [A1]1000;
Number of digits below decimal point n = 3
Speed reference = 1000 × 103 [0.001 mm/min]
2: 0.01% Designates the speed in percentage of the rated speed in units of 0.01%.
3: 0.0001% Designates the speed in percentage of the rated speed in units of 0.0001%.

7.2.5 Acceleration/Deceleration Setting

The unit for the acceleration/deceleration rate coded in a motion program can be selected: Reference unit/s2 or
ms. Use bits 4 to 7 (Acceleration/deceleration degree unit selection) of the motion setting parameter OW03
to select the unit.
Motion Setting
Speed Unit Coordinate Word Designation Method
Parameter
OW03, bits 4 to 7 Designates the acceleration/deceleration rate per second in units of refer-
0: Reference unit/s2
Acceleration/deceler- ence unit/s2.
ation degree unit
selection 1: ms Designates the acceleration/deceleration time in units of ms.

7-12
 7.3 Group Definition

7.3 Group Definition

Axes to be grouped together are defined in the Group Definition window.
This section describes the components of the Group Definition window.

1 2 3

4 5 6

1 No. of Group
Set a number for operation as a group.
Set it to 1 for operation as one group.
Set it to the number of groups for operation with multiple groups.

2 Group Name
Define a group name.

3 Control Axis No.

Set the number of axes controlled in the group.

4 Circuit
Set a line number for the motion module used.
Programming

The line number can be checked in the module configuration definition.

Line number

7-13
 7 Programming

5 Axis No.
Set an axis number for the axis used.
The axis number can be checked in the detailed screen of the used motion module.

Axis number

Double-click

6 Logical Axis Name

Define a name for the specified axis number.
The name defined here is used when programming a motion program.

MVS [A1]1000 [B1]2000 [C1]3000 F1000;

Logical axis name

7-14
 7.4 Priority Levels of Operations

7.4 Priority Levels of Operations

A priority level is assigned to each operator used in an operation written in motion language.
For an operation involving three or more items, specify the priority level by using ().
The priority levels of operators are shown below.

High Low

Priority Level
Operator
1 2 3 4
Parentheses ()
NOT !
AND &
OR |
XOR ^
+
-
Arithmetic operation
*
/

• Arithmetic Operation Example

EXAMPLE

• Operation example

　　
　 MW00100 = 1 + 2;

With this operation, 1 + 2 is calculated, and the result of 3 is stored in MW00100.

• Example of operation involving three items or more

　　
　 MW00100 = 1 + (2 ∗ 3);

With this operation, 2 * 3 is calculated first, and 1 is added to the result of 6. The final result of 7 is then
stored in MW00100.
Therefore, MW00100 = 7
Programming

INFO  Precautions on operations involving three items or more

For example, with the operation below,

MW00100 = 1 + 2 ∗ 3;

1 + 2 is calculated first according to the priority level shown above, and then the result of 3 is multiplied by 3. The final
result of 9 is then stored in MW00100. Therefore, MW00100 = 9.

7-15
 7 Programming

• Logical Operation Example

EXAMPLE

• Operation example

　　
　 MW00100 = 0001H | 0002H;

With this operation, OR operation of 0001H and 0002H are executed, and the result is stored in MW00100.

• Example of operation involving three or more items

　　
　 MW00100 = (1111H | 2222H) & 00FFH;

With this operation, OR operation of 1111H and 2222H are executed first, and the AND operation of the OR
result and 00FFH is calculated. The AND result is then stored in MW00100.
Therefore, MW00100 = 0033H

INFO  Precautions on operations involving three or more items

For example, with the following operation,

MW00100 = 1111H | 2222H & 00FFH;

With this operation, the AND operation of 2222H and 00FFH is executed first. Then, the OR operation of the AND
result and 1111H is executed. The OR result is then stored in MW00100.
Therefore, MW00100 = 1133H

7-16
 7.5 Commands and Execution Scans

7.5 Commands and Execution Scans

7.5.1 Command Types
There are three motion language command types. The number of scans required to execute a command will differ
depending on the command type. The following table shows the number of scans required to execute each type of
command.
Number of Scans Required
Command Type Command
to Execute a Command
S type Operation commands One scan
M type Axis move commands
More than one scan
T type Timer related commands

The details of each command type follow:

• S Type Commands
S type commands, including operation commands, are executed in one scan.
A program in which S type commands are continuously coded is executed within one scan.

• M Type Commands
M type commands, including axis move commands, are executed in more than one scan.
One scan is required to switch from the S type command to the M type command.

• T Type Commands
T type commands, including timer related commands, are executed in more than one scan.

The following diagram shows the number of scans required to execute each command type.

S type command
S type command Executed in one scan
S type command
Waits for one scan
M type command

Executed in more
M type command than one scan

When the command before an S type command is

Programming

an M type, the S type command is executed at

the last scan of the M type command.
S type command
S type command Executed in one scan
S type command

T type command

Executed in more
than one scan

END;

7-17
 7 Programming
7.5.2 List of Command Types

7.5.2 List of Command Types

The following table lists the command types.
Classification Command S Type M Type T Type Classification Command S Type M Type T Type
ABS  = 
INC  + 
ACC  Arithmetic - 
DCC  Operation * 
SCC  / 
Axis Setting
VEL  MOD 
Commands
FMX  | 
IFP  Logical & 
IAC  Operation ^ 
IDC  ! 
ACCMODE  == 
MOV  <> 
MVS  Data > 
MCW  Comparison < 
Axis Move MCC  >= 
Commands ZRN  <= 
SKP  SFR 
MVT  SFL 
Data
EXM  BLK 
Operations
POS  CLR 
MVM  ASCII 
Control PLN  SIN 
Commands PLD  COS 
PFN  TAN 
INP  ASN 
IF
ELSE  ACS 
IEND
WHILE
 ATN 
WEND
PFORK
JOINTO  Basic SQT 
PJOINT Functions
SFORK
JOINTO  BIN 
Program SJOINT
Control MSEE  BCD 
Commands
SSEE  S{ } 
UFC  R{ } 
FUNC  PON 
END  NON 
RET  TON 
TIM  TOF 
IOW  C CTSK 
EOX  Language
SNGD/ Control
 Commands CFUNC 
SNGE

7-18
 7.6 Sequence Program Format

7.6 Sequence Program Format

The format of a sequence program is the same as that for a motion program.
However, the motion language commands that can be used in a sequence program are limited. For the commands
that can be used in sequence programs, refer to Appendix A Motion Language Commands.

Programming

7-19
 8
Command Reference

This chapter describes the motion language commands.

8.1 Axis Setting Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3

8.1.1 Absolute Mode (ABS) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3
8.1.2 Incremental Mode (INC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-7
8.1.3 Acceleration Time Change (ACC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-11
8.1.4 Deceleration Time Change (DCC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-17
8.1.5 S-curve Time Constant Change (SCC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-23
8.1.6 Set Velocity (VEL) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-29
8.1.7 Maximum Interpolation Feed Speed Setting (FMX) - - - - - - - - - - - - - - - - - - - - - - - - - 8-35
8.1.8 Interpolation Feed Speed Ratio Setting (IFP) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-37
8.1.9 Interpolation Acceleration Time Change (IAC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-40
8.1.10 Interpolation Deceleration Time Change (IDC) - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-43
8.1.11 Set Interpolation Acceleration/Deceleration Mode (ACCMODE) - - - - - - - - - - - - - - - 8-46

8.2 Axis Move Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-60

8.2.1 Positioning (MOV) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-60
8.2.2 Linear Interpolation (MVS) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-64
8.2.3 Clockwise/Counterclockwise Circular Interpolation with Center Position
Designation (MCW, MCC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-69
8.2.4 Clockwise/Counterclockwise Circular Interpolation with Radius Designation
(MCW, MCC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-75
8.2.5 Clockwise/Counterclockwise Helical Interpolation with Center Position
Designation (MCW, MCC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-79
8.2.6 Clockwise/Counterclockwise Helical Interpolation with Radius
Command Reference

Designation (MCW, MCC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-82

8.2.7 Zero Point Return (ZRN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-84
8.2.8 Linear Interpolation with Skip Function (SKP) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-86
8.2.9 Set Time Positioning (MVT) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-88
8.2.10 External Positioning (EXM) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-90

8.3 Axis Control Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-92

8.3.1 Current Position Set (POS) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-92
8.3.2 Move On Machine Coordinates (MVM) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-94
8.3.3 Program Current Position Update (PLD) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-95
8.3.4 In-Position Check (PFN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-96
8.3.5 Set In-Position Range (INP) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-98
8.3.6 Coordinate Plane Setting (PLN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-100

8-1
 8 Command Reference

8.4 Program Control Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-101

8.4.1 Branching Commands (IF ELSE IEND) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-101
8.4.2 Repeat (WHILE WEND) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-103
8.4.3 Parallel Execution (PFORK, JOINTO, PJOINT) - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-106
8.4.4 Selective Execution (SFORK, JOINTO, SJOINT) - - - - - - - - - - - - - - - - - - - - - - - - - - 8-109
8.4.5 Motion Subprogram Call (MSEE) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-113
8.4.6 Sequence Subprogram Call (SSEE) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-114
8.4.7 User Function Call From Motion Program (UFC) - - - - - - - - - - - - - - - - - - - - - - - - - - 8-115
8.4.8 User Function Call from Sequence Program (FUNC) - - - - - - - - - - - - - - - - - - - - - - - 8-123
8.4.9 Program End (END) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-124
8.4.10 Subprogram End (RET) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-125
8.4.11 Dwell Time (TIM) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-126
8.4.12 I/O Variable Wait (IOW) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-127
8.4.13 One Scan Wait (EOX) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-129
8.4.14 Single-block Signal Disabled (SNGD)/Single-block Signal Enabled (SNGE) - - - - - - 8-130

8.5 Arithmetic Operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-131

8.5.1 Substitute (=) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-131
8.5.2 Add (+) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-132
8.5.3 Subtract (-) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-133
8.5.4 Multiply (*) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-134
8.5.5 Divide (/) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-135
8.5.6 Remainder (MOD) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-136

8.6 Logic Operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-137

8.6.1 OR (|) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-137
8.6.2 AND (&) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-139
8.6.3 XOR (^) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-140
8.6.4 NOT (!) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-141

8.7 Data Comparisons - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-142

8.7.1 Data Comparison Commands (==, <>, >, <, >=, <=) - - - - - - - - - - - - - - - - - - - - - - - - 8-142

8.8 Data Operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-144

8.8.1 Bit Right Shift (SFR) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-144
8.8.2 Bit Left Shift (SFL) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-145
8.8.3 Block Move (BLK) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-146
8.8.4 Clear (CLR) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-147
8.8.5 ASCII Conversion 1 (ASCII) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-148

8.9 Basic Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-150

8.9.1 Sine (SIN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-150
8.9.2 Cosine (COS) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-152
8.9.3 Tangent (TAN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-153
8.9.4 Arc Sine (ASN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-154
8.9.5 Arc Cosine (ACS) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-155
8.9.6 Arc Tangent (ATN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-156
8.9.7 Square Root (SQT) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-157
8.9.8 BCD to Binary (BIN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-159
8.9.9 Binary to BCD (BCD) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-160
8.9.10 Set Bit (S{ }) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-161
8.9.11 Reset Bit (R{ }) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-162
8.9.12 Rising Pulse (PON) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-163
8.9.13 Falling Pulse (NON) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-165
8.9.14 ON-Delay Timer (TON): Counting unit: 0.01 second - - - - - - - - - - - - - - - - - - - - - - - 8-168
8.9.15 OFF-Delay Timer (TOF): Counting unit: 0.01 second - - - - - - - - - - - - - - - - - - - - - - 8-170

8.10 C-Language Control Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-172

8.10.1 C-Language Task Control (CTSK) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-172
8.10.2 C-Language Function Call (CFUNC) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-174

8-2
 8.1 Axis Setting Commands

8.1 Axis Setting Commands

This section describes the axis setting commands.

8.1.1 Absolute Mode (ABS)

Motion Programs Sequence Programs
Available Not Available

CAUTION
• The movement of a coordinate word designated in ABS mode is entirely different from that of the same coor-
dinate word designated in INC mode. Before starting operations, be sure to check that the ABS or INC com-
mand is specified correctly.
Failure to carry out this check may result in damage to equipment, serious personal injury, or even death.

(1) Overview
The Absolute Mode (ABS) command causes the coordinate words that control axis movement to be treated as a
target position.
Once ABS mode has been executed, it remains in effect until Incremental Mode (INC) is next executed. ABS
mode is the default mode when the program operation is started.

ABS;
MOV [Logical axis 2? Reference position 1 [Logical axis 2] Reference position 2;

Logical axis 2 Coordinate word

Reference Target position

position 2

Program
current position
Logical axis 1
Reference position 1

Fig. 8.1 Movement Mode: Absolute Mode (ABS)

In this manual, the coordinate word that follows the logical axis name for the axis move command is expressed as
Command Reference

“reference position” or “position reference value.”

 Program Current Position

TERMS The position on the work coordinate system when an axis is started moving by execution of an axis move command. And,
the work coordinate system is the coordinate system used in motion programs.
For information on the work coordinate system, refer to 8.3.1 Current Position Set (POS).

8-3
 8 Command Reference
8.1.1 Absolute Mode (ABS)

(2) Format

• To code an individual ABS command

ABS;

• To code an ABS command in the same block with an axis move command
ABS MOV [Logical axis name 1] ⎯ [Logical axis name 2] ⎯ ;

(3) Programming Example

An ABS command programming example is given below.
EXAMPLE

ABS; "Absolute mode

MOV [A1]10000 [B1]40000; "Positioning
MOV [A1]50000 [B1]20000; "Positioning
END;

B1

Program current position

(10000, 40000)
40000

(50000, 20000)
20000

A1
0 10000 50000

Fig. 8.2 ABS Command Programming Example

(4) Supplemental Information on ABS Command

(a) Related Motion Parameters
Motion setting parameters and ABS commands have no relation.
The movement mode (ABS mode/INC mode) for axis move commands is control data exclusively reserved
for motion programs, and no motion setting parameter can be used to specify these modes.

• Note that the movement mode (ABS mode/INC mode) for axis move commands is totally different from the position
INFO reference type specified by the motion setting parameter OW09, bit 5.
• When executing a motion program, set bit 5 (position reference type) of motion setting parameter OW09 to 0
(incremental addition mode) regardless of the movement mode setting.

8-4
 8.1 Axis Setting Commands

(b) Finite-length Axis and Infinite-length Axis

The position reference value of a coordinate word for a finite-length axis must be handled differently from
one for an infinite-length axis.
The following table shows how to designate the position reference values for a finite-length axis and infinite-
length axis.
Movement Mode for
Axis Type Position Reference Value Designation Method
Axis Move Command
Finite- ABS Mode Designate the target position for the position reference value.
length Axis INC Mode Designate the relative movement amount for the position reference value.
Designate the target position in the range between 0 to POSMAX for the position
reference value.
Infinite- ABS Mode
The position reference value indicates the movement direction: Positive direction
length Axis
with a positive value, and negative direction with a negative value.
INC Mode Designate the relative movement amount for the position reference value.

• Use bit 0 (Axis selection) of motion fixed parameter 1 (Function selection flag 1) to select a finite-length axis or
INFO infinite-length axis.
Select a finite-length axis or infinite-length axis according to the machine configuration. For details on how to set
motion parameters, refer to the manual for the motion module to be used.
• Use the motion fixed parameter 10 (Infinite length axis reset position) to set POSMAX.

The motions of the finite-length axis and infinite-length axis in ABS mode are shown below.
For the motions in INC mode, refer to 8.1.2 Incremental Mode (INC).

• When Selecting ABS Mode for a Finite-length Axis

Specify the target position for the position reference value.
The following diagrams illustrate the axis motions when specifying the position reference values 2000 and
-2000 from the current position (1000).

ABS;
MOV [A1]2000;

Current Positioning
position end position
A1
-2000 0 1000 2000 Command Reference

ABS;
MOV [A1] - 2000;

Positioning Current
end position position
A1
-2000 0 1000 2000

8-5
 8 Command Reference
8.1.1 Absolute Mode (ABS)

• When Selecting ABS Mode for an Infinite-length Axis

Specify the target position in the range between 0 to POSMAX for the position reference value.
The position reference value indicates the movement direction: Positive direction with a positive value, and
negative direction with a negative value.
The following diagrams illustrate the axis motions when specifying the position reference values 2700 and
-2700 from the current position 450 for the infinite-length axis, with POSMAX set to 3600.

ABS;
MOV [A1]2700;
0
Current A1
position
450 3600
(POSMAX)
Positioning
end position 2700
2700 900 Positioning
end position
1800

900
Current position
0
1800 The axis moves in the positive direction
for positioning to 2700.

ABS;
MOV [A1] - 2700;
0
Current A1
position
450 3600
(POSMAX)

Positioning 2700
2700 900 end position
Positioning 1800
end position
900
Current position
0
1800 The axis moves in the negative direction
for positioning to 2700.

• When the position reference value +0 is specified for an infinite-length axis in ABS mode, the axis moves in the nega-
INFO
tive direction.
Specify the POSMAX value for the position reference value to move the axis in the positive direction.
• If the target position (the absolute value of the position reference value) exceeds the POSMAX value for an infinite-
length axis in ABS mode, an alarm will occur in the motion program.

8-6
 8.1 Axis Setting Commands

8.1.2 Incremental Mode (INC)

Motion Programs Sequence Programs
Available Not Available

CAUTION
• The movement of a coordinate word designated in ABS mode is entirely different from that of the same coor-
dinate word designated in INC mode. Before starting operations, be sure to check that the ABS or INC com-
mand is specified correctly.
Failure to carry out this check may result in damage to equipment, serious personal injury, or even death.

(1) Overview
The Incremental Mode (INC) command causes the coordinate words that control axis movement to be treated as a relative
movement amount.
Once INC mode has been executed, it remains in effect until the next time the Absolute Mode (ABS) is executed.
ABS mode is the default mode when the program operation starts.

INC;
MOV [Logical axis 1] Reference position 1 [Logical axis 2] Reference position 2;

Logical axis 2 Coordinate words

Target position

Reference
position 2

Program
current position
Reference
position 1 Logical axis 1

Fig. 8.3 Movement Mode of Incremental Mode (INC)

In this manual, the coordinate word that follows the logical axis name for the axis move command is expressed as
“reference position” or “position reference value.”

 Program Current Position

TERMS
Command Reference

The position on the work coordinate system when an axis is started moving by execution of an axis move command. And,
the work coordinate system is the coordinate system used in motion programs.
For information on the work coordinate system, refer to 8.3.1 Current Position Set (POS).

8-7
 8 Command Reference
8.1.2 Incremental Mode (INC)

(2) Format

• To code an individual INC command

INC;

• To code an INC command in the same block with an axis move command
INC MOV [Logical axis name 1 ] ⎯ | [Logical axis name 2 ] ⎯ ;

(3) Programming Example

An INC command programming example is given below.
EXAMPLE

INC; " Incremental mode

MOV [A1]20000 [B1]30000; " Positioning
MOV [A1]20000 [B1]10000; " Positioning
END;

B1

10000

20000

30000

Program
20000
current position

A1
0

Fig. 8.4 INC Command Programming Example

(4) Supplemental Information on INC Command

(a) Related Motion Parameters
Motion setting parameters and INC commands have no relation.
The movement mode (ABS mode/INC mode) for axis move commands is control data exclusively reserved
for motion programs, and no motion setting parameter can be used to specify these modes.

8-8
 8.1 Axis Setting Commands

(b) Finite-length Axis and Infinite-length Axis

The position reference value of a coordinate word for a finite-length axis must be handled differently from
one for an infinite-length axis.
The following table shows how to designate the position reference values for a finite-length axis and infinite-
length axis.
Movement Mode for
Axis Type Position Reference Value Designation Method
Axis Move Command
Finite- ABS Mode Designate the target position for the position reference value.
length Axis INC Mode Designate the relative movement amount for the position reference value.
Designate the target position in the range between 0 to POSMAX for the position
reference value.
Infinite- ABS Mode
The position reference value indicates the movement direction: Positive direction
length Axis
with a positive value, and negative direction with a negative value.
INC Mode Designate the relative movement amount for the position reference value.

• Use bit 0 (Axis selection) of motion fixed parameter 1 (Function selection flag 1) to select a finite-length axis or
INFO infinite-length axis.
Select a finite-length axis or infinite-length axis according to the machine configuration. For details on how to set
motion parameters, refer to the manual for the motion module to be used.
• Use the motion fixed parameter 10 (Infinite length axis reset position) to set POSMAX.

The motions of the finite-length axis and infinite-length axis in INC mode are shown below.
For the motions in ABS mode, refer to 8.1.1 Absolute Mode (ABS).

• When Selecting INC Mode for a Finite-length Axis

Specify the relative movement amount for the position reference value.
The following diagrams illustrate the axis motions when specifying the position reference values 2000 and
-2000 from the current position (1000).

INC;
MOV [A1]2000;
Current Positioning
Position end position
A1
-2000 0 1000 2000 3000
Command Reference

INC;
MOV [A1] - 2000;

Positioning Current
end position Position
A1
-1000 0 1000 2000 3000

8-9
 8 Command Reference
8.1.2 Incremental Mode (INC)

• When Selecting INC Mode for Infinite-length Axis

Specify the relative movement amount for the position reference value.
The following diagrams illustrate the axis motions when specifying the position reference values 2700 and
-2700 from the current position 450 for the infinite-length axis, with POSMAX set to 3600.

INC;
MOV [A1]2700;
0
Positioning Current A1
end position position
3150 450 3600
(POSMAX)

Positioning 2700
2700 900 end position
1800

900
Current position
0
1800

INC;
MOV [A1] - 2700;
0
Current A1
position
450 3600
(POSMAX)

2700
2700 900
Positioning 1800
end position
1350 900
Positioning Current position
end position 0
1800

• If the absolute value of the position reference value (coordinate word) exceeds the POSMAX value, the position refer-
INFO
ence value (coordinate word) is used for the relative movement amount to move the axis in INC mode.

INC;
MOV [A1]6300; "|6300|>3600(POSMAX)

0
Positioning Current A1
end position position
3150 450 3600
(POSMAX)
Positioning end position
2700
2700 900
1800

900
Current position
0
1800

8-10
 8.1 Axis Setting Commands

8.1.3 Acceleration Time Change (ACC)

Motion Programs Sequence Programs
Applicable Not applicable

(1) Overview
The Acceleration Time Change command (ACC) changes the acceleration time or acceleration rate of the axis
for which one of the following axis move commands is executed.
• Positioning (MOV)
• Set Time Positioning (MVT)
• External Positioning (EXM)
The acceleration time for up to 16 axes can be changed at once. The acceleration time of any axis unspecified in
the command block is not changed.
The acceleration time changed by the ACC command remains until it is reset by the next ACC command.
Speed (V)

Time (t)
Before acceleration time change

Speed (V)

Time (t)
After acceleration time change

Fig. 8.5 Acceleration Time Change (ACC)

• The Acceleration Time Change command (ACC) changes the acceleration time for positioning related commands
INFO
MOV, EXM, and MVT. Use an IAC command to set the acceleration time for interpolation related commands, MVS,
MCW, MCC, and SKP.
• All motion modules, except the PO-01 module, support ACC, DCC, and SCC commands.
Use of these commands with the PO-01 module requires the following combination of MP2000-series Machine Con-
troller and PO-01 module versions.
Command Reference

MP2000 Series Version Number PO-01 Module Version Number

Ver.2.46 or later Ver.1.06 or later

8-11
 8 Command Reference
8.1.3 Acceleration Time Change (ACC)

(2) Format

ACC [Logical axis name 1] Acceleration time [Logical axis name 2] Acceleration time [Logical axis name 3] Acceleration time . . . ;

Item Unit Data That Can Be Used

Acceleration ms or reference unit/s 2  Directly specified value
time
or Note: Use bits 4 to 7 of the motion setting  Double integer register (Indirect designation)
acceleration parameter OW03
rate (Acceleration/deceleration degree
unit selection) to set the unit.

(3) Setting Items for ACC Command

Either acceleration time (ms) or acceleration rate (reference unit/s2) can be selected for the unit of set value for
ACC command.

Motion setting parameter OW03, bits 4 to 7 (Acceleration/deceleration degree unit selection)

Parameter Name Acceleration/Deceleration Unit
Function setting 1,
0: Reference unit/s2
Acceleration/deceleration degree unit
1: ms (default)
selection

• When bits 4 to 7 (Acceleration/deceleration degree unit selection) of OW03 are set to

1 (ms)
Motion Image

Speed (V)

b) Rated speed

c) Positioning speed
(VEL)

Time (t)

a) Linear acceleration time constant

(ACC)

a) Linear acceleration time constant

Set the linear acceleration time constant (the time required to reach the rated speed from 0) for the ACC
command. The reference range is as follows.
1 to 32767 (ms)

b) Rated speed
Set the rated speed of each axis using the motion fixed parameter 34 (Rated motor speed).
For details, refer to the manual for the motion module to be used.

8-12
 8.1 Axis Setting Commands

c) Positioning speed
The speed for positioning related commands MOV, MVT, or EXM.
Set the positioning speed of each axis using the Set Velocity command (VEL).

For the Set Time Positioning command (MVT), the positioning speed is not the reference value of the VEL command.
INFO
The Set Time Positioning command (MVT) changes the positioning speed according to the set positioning time and the
amount of movement.

• When bits 4 to 7 (Acceleration/deceleration degree unit selection) of OW03 are set to

0 (reference unit/s2)
Motion Image

Speed (V)

b) Positioning speed
(VEL)

Time (t)
a) Linear acceleration rate
(ACC)

a) Linear acceleration rate

Set the value of the linear acceleration rate for the ACC command.
The reference range is as follows.
1 to 231-1 (reference unit/s2)

b) Positioning speed
The speed of positioning related commands, MOV, MVT, or EXM.
Set the positioning speed of each axis using the Set Velocity command (VEL).
Command Reference

For the Set Time Positioning command (MVT), the positioning speed is not the reference value of the VEL command.
INFO
The Set Time Positioning command (MVT) changes the positioning speed according to the set positioning time and the
amount of movement.

8-13
 8 Command Reference
8.1.3 Acceleration Time Change (ACC)

(4) Programming Examples

ACC command programming examples are shown below.
EXAMPLE
• When bits 4 to 7 (Acceleration/deceleration degree unit selection) of OW03 are set to
1 (ms)
The following example shows when the MOV command is executed to accelerate axis A1 from static to the
rated speed in four seconds, and when the MOV command is executed to accelerate axis A1 in eight seconds.

INC; " Incremental mode

VEL [A1]10000; " Set Velocity [10∗∗n reference units/min.]
DCC [A1]8000; " Deceleration time change [ms]
ACC [A1]4000; " Acceleration time change [ms]
MOV [A1]5000000; " Positioning
DL00000 = 8000; " Acceleration time [ms]
ACC [A1]DL00000; " Acceleration time change [ms]
MOV [A1]5000000; " Positioning
END;

Speed (V)
[10 n reference units/min]

20000
Rated speed ∗

10000
Positioning speed

ACC ACC
Time (t)
4s 8s [s]

* The unit of rated speed (min-1) must be converted to the same unit used for positioning speed (10n refer-
ence units/min).
Fig. 8.6 Acceleration Time Change (ACC) Command Programming Example 1:
When Acceleration/Deceleration Degree Unit Selection is Set to 1 (ms)

8-14
 8.1 Axis Setting Commands

EXAMPLE
• When bits 4 to 7 of OW03 (Acceleration/deceleration degree unit selection) are set to
0 (reference unit/s2)
The following example shows when the MOV command is executed to accelerate the axis A1 at the rate of
60.000 (mm/s2), and when the MOV command is executed to accelerate axis A1 at the rate of 100.000
(mm/s2). In this example, one reference unit is set to 0.001 mm.

INC; " Incremental mode

VEL [A1]18000; " Set Velocity [10∗∗n reference units/min]
DCC [A1]100000; " Deceleration time change [reference unit /S∗S]
ACC [A1]60000; " Acceleration rate change [reference unit/S∗S]
MOV [A1]5000000; " Positioning
DL00000 = 100000; " Acceleration rate [reference unit/S∗S]
ACC [A1] DL00000; " Acceleration rate change [reference unit/S∗S]
MOV [A1]5000000; " Positioning
END; END;

Speed (V)
[0.001 mm/s]

300000 VEL
18000 (mm/min)
= 300000 (0.001 mm/s)
ACC ACC
60.000 mm/s 2 100.000 mm/s 2

Time (t)
[s]

Fig. 8.7 Acceleration Time Change Command (ACC) Programming Example 2:

When Acceleration/Deceleration Degree Unit Selection is Set to 0 (Reference unit/s2)

Command Reference

8-15
 8 Command Reference
8.1.3 Acceleration Time Change (ACC)

(5) Supplemental Information on ACC Command

(a) Related Motion Parameters
ACC changes the acceleration time of the following motion setting parameter.
Parameter Name Register No. Description
Straight Line Acceleration/
OL36 Sets the linear acceleration rate or linear acceleration time constant.
Acceleration Time Constant

The acceleration time can be changed by directly changing the setting of the motion setting parameter
OL36 (Straight line acceleration time constant) instead of executing an ACC command. Refer to the fol-
lowing table for details on how to directly change the acceleration time setting.

Motion and setting procedure of acceleration time for positioning related commands are as follows.
Motion
Motion Setting Procedure
Module
The axis moves according to the accelera-
SVA-01,
tion time of motion setting parameter Set an acceleration time to motion setting parameter OL36
PO-01,
OL36 (Straight line acceleration/ (Straight line acceleration/acceleration time constant).
SVR
acceleration time constant).
Set an acceleration time using motion setting parameter
SVB-01, OL36. Then, use bit 10 (ACC: Change acceleration time)
The axis moves at the acceleration rate of
Built-in of motion setting parameter OW08 (Motion command) to
the SERVOPACK parameter.
SVB
write the new acceleration time into the SERVOPACK. *

* The built-in SVB and SVB-01 modules have a function that can automatically write the setting of motion setting
parameter OL36 (Straight line acceleration/acceleration time constant) into the SERVOPACK parameters.
When this automatic writing function is enabled, you do not need to use bit 10 (ACC: Change acceleration time)
of motion setting parameter OW08.
For the automatic writing function, refer to 11.6 Parameters That Are Automatically Updated in Machine Controller
MP2000 Series Built-in SVB/SVB-01 Motion Module User’s Manual (manual number: SIEPC88070033).

(b) Setting Acceleration Time and Deceleration Time

With the following combination of motion module and SERVOPACK model, the acceleration time and
deceleration time cannot be set individually. If you set the acceleration time, the deceleration time will be
automatically set. With SERVOPACK models other than those listed below, the acceleration times and decel-
eration times can be set individually using ACC and DCC commands.
Motion SERVOPACK
Description
Module Model
• With a built-in SVB or SVB-01 module, the axis moves at the acceleration/decelera-
SGD-N
SVB-01, tion rate of the SERVOPACK parameter.
Built-in SVB • SGD-N and SGDB-N SERVOPACKs uses same parameter to set both acceleration
SGDB-N
time and deceleration time.

8-16
 8.1 Axis Setting Commands

8.1.4 Deceleration Time Change (DCC)

Motion Programs Sequence Programs
Applicable Not applicable

(1) Overview
The Deceleration Time Change command (DCC) changes the deceleration time or deceleration rate of the axis
for which one of the following axis move commands is executed.
• Positioning (MOV)
• Set Time Positioning (MVT)
• External Positioning (EXM)
The deceleration time for up to 16 axes can be changed at once. The deceleration time of any axis unspecified in
the command block is not changed.
The deceleration time changed by the DCC command remains until it is reset by the next DCC command.
Speed (V)

Time (t)
Before deceleration time change

Speed (V)

Time (t)
After deceleration time change

Fig. 8.8 Deceleration Time Change (DCC)

• The Deceleration Time Change command (DCC) changes the deceleration time for positioning related commands
INFO
MOV, EXM, and MVT. Use the IDC command to set the interpolation related commands MVS, MCW, MCC, and SKP.
• All motion modules, except the PO-01 module, support ACC, DCC, and SCC commands.
Use of these commands with the PO-01 module requires the following combination of MP2000-series Machine Con-
troller and PO-01 module versions.

MP2000 Series Version Number PO-01 Version Number

Command Reference

Ver.2.46 or later Ver.1.06 or later

8-17
 8 Command Reference
8.1.4 Deceleration Time Change (DCC)

(2) Format

DCC [Logical axis name 1] Deceleration time [Logical axis name 2] Deceleration time [Logical axis name 3] Deceleration time . . . ;

Item Unit Data That Can Be Used

Deceleration ms or reference unit/s 2  Directly specified value
time  Double integer register (Indirect designation)
or Note: Use bits 4 to 7 of the motion
setting parameter OW03
Deceleration (Acceleration/deceleration degree
rate unit selection) to set the unit.

(3) Setting Items for the DCC Command

Either deceleration time (ms) or deceleration rate (reference unit/s2) can be selected for the unit of set value for
the DCC command.

Motion setting parameter OW03, bit 4 to 7 (Acceleration/deceleration degree unit selection)

Parameter Name Acceleration/Deceleration Unit
Function setting 1,
0: Reference unit/s2
Acceleration/deceleration degree unit
1: ms (default)
selection

• When bits 4 to 7 (Acceleration/deceleration degree unit selection) of OW03 are set to

1 (ms)
Motion Image

Speed (V)

b) Rated speed

c) Positioning speed
(VEL)

Time (t)

a) Linear deceleration time constant

(DCC)

a) Linear deceleration time constant

Set the linear deceleration time constant (the time required to decelerate to 0 from the rated speed) for
DCC command. The reference range is as follows.
1 to 32767 (ms)

b) Rated speed
Set the rated speed of each axis using motion fixed parameter 34 (Rated motor speed).
For details, refer to the manual for the motion module to be used.

8-18
 8.1 Axis Setting Commands

c) Positioning speed
The speed for positioning related commands MOV, MVT, or EXM.
Set the positioning speed of each axis using the Set Velocity command (VEL).

For the Set Time Positioning command (MVT), the positioning speed is not the reference value of the VEL command.
INFO
The Set Time Positioning command (MVT) changes the positioning speed according to the set positioning time and the
amount of movement.

• When bits 4 to 7 (Acceleration/deceleration degree unit selection) of OW03 are set to

0 (reference unit/s2)
Motion Image

Speed (V)

b) Positioning speed
(VEL)

Time (t)
a) Linear deceleration rate
(DCC)

a) Linear deceleration rate

Set the linear acceleration rate value for the DCC command.
The reference range is as follows.
1 to 231-1 (reference unit/s2)

b) Positioning speed
The speed of positioning related value commands MOV, MVT, or EXM.
Set the positioning speed of each axis using the Set Velocity command (VEL).
Command Reference

For the Set Time Positioning command (MVT), the positioning speed is not the reference value of the VEL command.
INFO
The Set Time Positioning command (MVT) changes the positioning speed according to the set positioning time and the
amount of movement.

8-19
 8 Command Reference
8.1.4 Deceleration Time Change (DCC)

(4) Programming Examples

DCC command programming examples are shown below.

EXAMPLE
• When bits 4 to 7 (Acceleration/deceleration degree unit selection) of OW03 are set to
1 (ms).
The following example shows when the MOV command is executed to decelerate axis A1 from the rated
speed to 0 in four seconds, and when the MOV command is executed to decelerate the axis from the rated
speed to 0 in eight seconds.

INC; " Incremental mode

VEL [A1]10000; " Set Velocity [10∗∗n reference units/min]
ACC [A1]8000; " Acceleration time change [ms]
DCC [A1]4000; " Deceleration time change [ms]
MOV [A1]5000000; " Positioning
DL00000 = 8000; " Deceleration time [ms]
DCC [A1]DL00000; " Deceleration time change [ms]
MOV [A1]5000000; " Positioning
END;

Speed (V)
[10 n reference units/min]

20000
Rated speed *

10000
Positioning speed

DCC DCC Time (t)

4s 8s [s]

* The unit of rated speed (min-1) must be converted to the same unit used for positioning speed (10n refer-
ence units/min).
Fig. 8.9 Deceleration Time Change (DCC) Command Programming Example 1:
When Acceleration/Deceleration Degree Unit Selection is Set to 1 (ms).

8-20
 8.1 Axis Setting Commands

EXAMPLE
• When bits 4 to 7 (Acceleration/deceleration degree unit selection) of OW03 are set to
0 (reference unit/s2)
The following example shows when the MOV command is executed to decelerate axis A1 at the rate of
60.000 (mm/s2) and when the MOV command is executed to decelerate the axis A1 at the rate of 100.000
(mm/s2). In this example, one reference unit is 0.001 mm.

INC; " Incremental mode

VEL [A1]18000; " Set Velocity [10∗∗n reference units/min]
ACC [A1]100000; " Acceleration rate change [reference unit//S∗S]
DCC [A1]60000; " Deceleration rate change [reference unit/S∗S]
MOV [A1]5000000; " Positioning
DL00000 = 100000; " Deceleration rate [reference unit/S∗S]
DCC [A1] DL00000; " Deceleration rate change [reference unit/S∗S]
MOV [A1]5000000; " Positioning
END;

Speed (V)
[0.001 mm/s]

300000 VEL
18000 (mm/min)
= 300000 (0.001 mm/s)
DCC DCC
60.000 mm/s 2 100.000 mm/s 2

Time (t)
[s]

Fig. 8.10 Deceleration Time Change Command (DCC) Programming Example 2:

When Acceleration/Deceleration Degree Unit Selection is Set to 0 (Reference unit/s2)

Command Reference

8-21
 8 Command Reference
8.1.4 Deceleration Time Change (DCC)

(5) Supplemental Information on DCC Command

(a) Related Motion Parameters
DCC changes the deceleration time of the following motion setting parameter.
Parameter Name Register No. Description
Straight Line Deceleration/
OL38 Sets the linear deceleration rate or linear deceleration time constant.
Deceleration Time Constant

The deceleration time can be changed by directly changing the setting of the motion setting parameter
OL38 (Straight line deceleration/deceleration time constant) instead of executing an DCC command.
Refer to the following table for details on how to directly change the deceleration time setting.

Motion and setting procedure of acceleration time for positioning related commands are as follows.
Motion
Motion Setting Procedure
Module
The axis moves according to the decelera-
SVA-01,
tion time of motion setting parameter Set a deceleration time to motion setting parameter OL38
PO-01,
OL38 (Straight line deceleration/ (Straight line deceleration/deceleration time constant).
SVR
deceleration time constant).
Set a deceleration time using motion setting parameter
SVB-01, OL38. Then, use bit 11 (ACC: Change deceleration time)
The axis moves at the deceleration rate of
Built-in of motion setting parameter OW08 (Motion command) to
the SERVOPACK parameter.
SVB
write the new acceleration time into the SERVOPACK. *

* The built-in SVB and SVB-01 modules have a function that can automatically write the setting of motion setting
parameter OL38 (Straight line deceleration/deceleration time constant) into the SERVOPACK parameters.
When this automatic writing function is enabled, you do not need to use bit 11 (ACC: Change deceleration time)
of motion setting parameter OW08.
For the automatic writing function, refer to 11.6 Parameters That Are Automatically Updated in Machine Controller
MP2000 Series Built-in SVB/SVB-01 Motion Module User’s Manual (manual number: SIEPC88070033).

(b) Setting Acceleration Time and Deceleration Time

With the following combination of motion module and SERVOPACK model, the acceleration time and
deceleration time cannot be set individually. If you set the acceleration time, the deceleration time will be
automatically set. With SERVOPACK models other than those listed below, the acceleration times and decel-
eration times can be set individually using ACC and DCC commands.
Motion SERVOPACK
Description
Module Model
• With a built-in SVB or SVB-01 module, the axis moves at the acceleration/decelera-
SGD-N
SVB-01, tion rate of the SERVOPACK parameter.
Built-in SVB • SGD-N and SGDB-N SERVOPACKs uses same parameter to set both acceleration
SGDB-N
time and deceleration time.

8-22
 8.1 Axis Setting Commands

8.1.5 S-curve Time Constant Change (SCC)

Motion Programs Sequence Programs
Applicable Not applicable

(1) Overview
The S-curve Time Constant Change command (SCC) changes the S-curve time constant of each axis for which
an axis move command is executed.
The S-curve time constant is the parameter for the S-curve acceleration/deceleration function that suppresses
mechanical vibration during acceleration/deceleration.
The S-curve time constant for up to 16 axes can be changed at once. The S-curve time constant of any axis
unspecified in the command block is not changed.
The S-curve time constant changed by the SCC command remains until it is reset by the next SCC command.
Speed (V)

Time (t)

Before S-curve time constant change

Speed (V)

Time (t)

After S-curve time constant change

Fig. 8.11 S-curve Time Constant Change

All motion modules, except the PO-01 module, support ACC, DCC, and SCC commands.
INFO
Use of these commands with PO-01 module requires the following combination of Machine Controller and PO-01 module
version numbers.

MP2000 Series Version Number PO-01 Version Number

Ver.2.46 or later Ver.1.06 or later
Command Reference

(2) Format

SCC [Logical axis name 1] S-curve time constant [Logical axis name 2] S-curve time constant . . . ;

Item Unit Data That Can Be Used

S-curve time ms  Directly designated value
constant
 Double integer register (indirect designation)

8-23
 8 Command Reference
8.1.5 S-curve Time Constant Change (SCC)

(3) Setting Items for SCC Command

Motion Image

Speed (V)
When the acceleration/deceleration filter is disabled

Time (t)

S-curve time constant (SCC)

Specify a numerical value or register for the S-curve time constant of each axis using an SCC command.
The reference range of the S-curve time constant depends on the motion module to be used:
• For SVA-01, PO-01, and SVR modules, the reference range is specified by motion setting parameter
OW3A (Filter time constant).
• For built-in SVB and SVB-01 modules, the reference range is specified by the SERVOPACK parameter
Average Movement Time.
The following table shows the reference range of S-curve time constants for each motion module model.
SCC Command
Motion Module Remarks
Reference Range (ms)
SVA-01 0 to 6553 −
With the SGD-N, SGDB-N, SGDH+NS110/NS115, SGDS, SGDX, or
0 to 510
SGDV SERVOPACK
SVB-01,
Built-in SVB With the SGDJ SERVOPACK, the S-curve acceleration/deceleration can-
− not be used since the SERVOPACK does not have a parameter for Aver-
age Movement Time.
PO-01 0 to 6553 −
SVR 0 to 6553 −

• If a reference value of more than 6553 ms is input, a motion program alarm will occur regardless of the motion module
INFO
model.
• If a reference value exceeds the upper limit (511 to 6553 ms) when using a built-in SVB or SVB-01 module, bit 1 of
motion monitoring parameter IL02 is set to 1 (Set parameter error), and the upper limit (510 ms) is set for the Aver-
age Movement Time of the SERVOPACK parameter.

8-24
 8.1 Axis Setting Commands

(4) Programming Examples

EXAMPLE
An SCC command programming example is given below.
The following example shows when a MOV command with an S-curve time constant of 250 ms and a MOV
command with an S-curve time constant of 500 ms are executed.
The parameters are set as follows for execution of this program.
• Motion setting parameter OW03, bits 0 to 3 (Speed unit selection) = 0 (reference unit/s)
• Motion setting parameter OW03, bits 4 to 7 (Acceleration/deceleration degree unit selection) = 0
(reference unit/s2)

INC; " Incremental mode

VEL [A1]10000; " Set Velocity [reference unit/S]
ACC [A1]20000; " Acceleration rate change [reference unit/S∗S]
DCC [A1]20000; " Deceleration rate change [reference unit/S∗S]
SCC [A1]250; " S-curve time constant change [ms]
MOV [A1]20000; " Positioning
DL00000 = 500; " S-curve time constant [ms]
SCC [A1]DL00000; " S-curve time constant change [ms]
MOV [A1]20000; " Positioning
END;

Speed (V)

Time (t)
250 ms 250 ms 500 ms 500 ms [ms]
(SCC) (SCC) (SCC) (SCC)

Fig. 8.12 S-curve Time Change Command Programming Example

Command Reference

8-25
 8 Command Reference
8.1.5 S-curve Time Constant Change (SCC)

(5) Supplemental Information on SCC Command

(a) Related Motion Parameters
SCC command changes the S-curve time constant of the following motion setting parameter.
Parameter Name Register No. Description
Sets the acceleration/deceleration filter time constant (1 = 0.1 ms).
• Change the filter time constant after confirming that bit 0 of motion moni-
Filter time constant OW3A toring parameter IW0C is set to 1 (discharging completed).
• Change the filter time constant after selecting a filter type using bits 8 to B
of motion setting parameter OW03 (Filter type selection).

The S-curve time constant can be changed by directly changing the motion setting parameter OW3A
(filter time constant) instead of executing an SCC command. Refer to the following table for information on
how to directly change the S-curve time constant.

Motion and setting procedure of S-curve time constant are as follows.

Motion
Motion Setting Procedure
Module
When S-curve acceleration/deceleration is
SVA-01, enabled, the axis moves according to the
Set the S-curve time constant to motion setting parameter
PO-01, S-curve time constant set in motion set-
OW3A (filter time constant).
SVR ting parameter OW3A (Filter time
constant).
Set the S-curve time constant using the motion setting parame-
When the S-curve acceleration/decelera- ter OW3A (filter time constant). Then, execute 12 (change
SVB-01, tion is enabled, the axis moves according filter time constant) of motion setting parameter OW08
Built-in SVB to the Average Movement Filter Time (Motion command) to write the set S-curve time constant into
Constant of the SERVOPACK parameter.
the SERVOPACK.*

* The built-in SVB and SVB-01 modules can automatically write the setting of motion setting parameter
OW3A into Average Movement Filter Time Constant of the SERVOPACK parameter.
When this automatic writing function is enabled, you do not need to execute 12 of motion setting parameter
OW08.
For the automatic writing function, refer to 11.6 Parameters That Are Automatically Updated in Machine Controller
MP2000 Series Built-in SVB/SVB-01 Motion Module User’s Manual (manual number: SIEPC88070033).

8-26
 8.1 Axis Setting Commands

(b) Movement Path by Interpolation Command and S-Curve Acceleration/Deceleration

The S-curve acceleration/deceleration influences the movement path by using the interpolation related com-
mand MVS. MCW, MCC, or SKP.
• To achieve the same motion path as when the S-curve acceleration/deceleration is disabled for linear inter-
polation, set the same S-curve time constant for all the axes involved in interpolation.
• When the S-curve acceleration/deceleration is enabled for circular interpolation, the motion path will not
be the same as when the S-curve acceleration/deceleration is disabled.

• Axis Movement Path by Linear Interpolation

EXAMPLE
When the S-curve acceleration/ When the S-curve acceleration/
When the acceleration/deceleration deceleration is enabled, deceleration is enabled, and
filter is disabled. and the S-curve time constants the S-curve time constants are
are matched. unmatched.

Y1 Y1 Y1 End position
End position End position

S-curve time constant

X1>Y1
Start position Start position Start position

X1 X1 X1

• Axis Movement Path by Circular Interpolation

EXAMPLE
When the S-curve acceleration/ When the S-curve acceleration/
When the acceleration/deceleration deceleration is enabled, and the deceleration is enabled, and the
filter is disabled. S-curve time constants are S-curve time constants are
matched. unmatched.

Y1 Y1 Y1

End position End position End position

S-curve time constant

X1>Y1
Start position Start position Start position
Command Reference

X1 X1 X1

8-27
 8 Command Reference
8.1.5 S-curve Time Constant Change (SCC)

(c) Filter Type Selection

Before enabling the S-curve acceleration/deceleration, set the filter type of each axis by setting bit 8 to B (Fil-
ter type selection) of OW03 to 2: (Moving Average Filter).
Parameter Name Register No. Filter Type
0: No filter (default)
Function setting 1, OW03,
1: Exponential acceleration/deceleration filter
Filter type selection bit 8 to B
2: Moving average filter

When a built-in SVB or SVB-01 module is used and the function for automatically writing the parameters
into the SERVOPACK is disabled, execute 13 (change filter type) of the motion setting parameter OW08
(Motion commands) to write the set filter type into the SERVOPACK.
An example of programming to change the filter type using a motion program is shown below.
Note: When using an SVA-01, PO-01, or SVR module, the following program is not necessary.
When using an SVB or SVB-01 module, the following program can be omitted by enabling the func-
tion to write parameters into the SERVOPACK.

:
:

" Verify if changing the filter type is allowed

IOW IW8008 == 0; " Wait for response No motion command in execution
IOW IB800C0 == 1; " Wait for response Discharging completed

" Select the filter type Moving Average Filter

DW00000 = OW8003 & F0FFH; " Holds information other than Filter Type Selection
OW8003 = DW00000 | 0200H; " Filter type = Moving average filter

" Write the filter type from the built-in SVB/SVB-01 module into the SERVOPACK
OW8008 = 13; " Request to change filter type
IOW IW8008 == 13; " Wait for response Processing SCC
IOW IB80098 == 1; " Wait for response Command execution completed
OW8008 = 0; " Clears the request
IOW IW8008 == 0; " Wait for response No motion command in execution

:
:

Refer to 11.6 Parameters That Are Automatically Updated in Machine Controller MP2000 Series Built-in SVB/SVB-01
INFO
Motion Module User’s Manual (manual number: SIEPC88070033) for information on the built-in SVB/SVB-01 module
function for automatically writing parameters into the SERVOPACK.

8-28
 8.1 Axis Setting Commands

8.1.6 Set Velocity (VEL)

Motion Programs Sequence Programs
Applicable Not applicable

(1) Overview
The Set Velocity command (VEL) changes the feed speed of each axis for the following axis move commands.
• Positioning (MOV)
• External positioning (EXM)
In this manual, the above axis move commands and the Set Time Positioning command (MVT) are referred to as
positioning related commands, and the feed speed of positioning related commands is referred to as positioning
speed.
The positioning speed for up to 16 axes can be changed at once. The positioning speed of an axis unspecified in
the VEL command block is not changed.
The axis positioning speed changed by a VEL command remains until it is reset by the next VEL command or it
is changed by executing the Set Time Positioning command.

Speed (V)

Before set velocity Time (t)

Speed (V)

After set velocity Time (t)

Fig. 8.13 Set Velocity (VEL)

The Set Velocity command (VEL) sets the positioning speed for positioning related commands (MOV and EXM). Use F
INFO
designation or IFP command to set the feed speed for interpolation related commands (MVS, MCW, MCC, and SKP).
Command Reference

(2) Format

VEL [Logical axis name 1] Positioning speed [Logical axis name 2] Positioning speed ࡮࡮࡮ ;

Item Unit Usable Data

Positioning 10 n reference unit/min, ࡮Directly specified value
speed Reference unit/s,
࡮Double integer register (Indirect designation)
0.01% (percentage of rated speed), or
0.0001% (percentage of rated speed)
Note: Use bits 0 to 3 (Speed unit selection) of
motion setting parameter OW03 to
select a setting unit.

8-29
 8 Command Reference
8.1.6 Set Velocity (VEL)

(3) Setting Items for VEL Command

Motion Image

Speed (V)
[ c) Speed unit ]

a) Rated speed

d) Positioning speed
(VEL)

Time (t)
b) Acceleration time b) Deceleration time
(ACC) (DCC)

a) Rated speed
Use motion fixed parameter 34 (Rated motor speed) to set the rated speed of each axis.
For details, refer to the manual for the motion module to be used.

b) Acceleration time/Deceleration time

Use the Acceleration Time Change (ACC)/Deceleration Time Change (DCC) command to set the accelera-
tion/deceleration time for each axis.
The time set by executing ACC command is the time required to reach the rated speed.

c) Speed unit
Use bits 0 to 3 (Speed unit selection) of motion setting parameter OW03 to set the speed unit for each
axis. The default is 10n reference units/min.
Parameter Name Register No. Speed Unit Reference Range
0: Reference units/s 0 to 231-1 (reference units/s)
1:10n reference units/min 0 to 231-1 (10n reference units/min)
Function setting 1, OW03, 2: 0.01% (percentage of
Speed unit selection bit 0 to 3 0 to 32767 (0.01%)
rated speed)
3: 0.0001% (percentage of
0 to 3276700 (0.0001%)
rated speed)

The setting unit for VEL command when 10n reference units/min is selected for the speed unit is determined by the
INFO
motion fixed parameter 4: Reference unit selection.

Motion Fixed Parameter Speed Unit:

4: Reference Unit n Remarks
10 reference units/
Selection min
pulse 1 = 1000 pulses/min
mm 1 = 1 mm/min • When pulse is selected for reference unit: n = 3
• When a reference unit other than pulse is selected:
deg 1 = 1 deg/min
n = Motion fixed parameter 5: Number of digits below
inch 1 = 1 inches/min decimal point
μm 1 = 1μm/min

d) Positioning speed
Specify a numerical value or register using a VEL command.

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 8.1 Axis Setting Commands

(4) Programming Examples

A VEL command programming example is shown below.
This example shows execution of a MOV command with the positioning speed specified as 40% of rated speed
and a MOV command with the positioning speed specified as 20% of rated speed.
EXAMPLE

INC; " Incremental mode

ACC [A1]5000; " Acceleration time change [ms]
DCC [A1]5000; " Deceleration time change [ms]
VEL [A1]4000; " Set Velocity [0.01%]
MOV [A1]3000000; " Positioning
VEL [A1]2000; " Set Velocity [0.01%]
MOV [A1]3000000; " Positioning
END;

[A1] Speed (V)

[0.01%]

10000 Rated speed

4000 VEL 40% of rated speed

2000 VEL 20% of rated speed

Time (t)

Fig. 8.14 Set Velocity Command (VEL) Programming Example

Speed unit: Percentage of rated speed in unit of 0.01%

(5) Supplemental Information on VEL Command

(a) Related Motion Parameters
VEL command changes the positioning speed of the following motion setting parameter.
Parameter Name Register No. Description
Speed reference setting OL10 Sets the speed reference value.
Command Reference

The positioning speed can be changed by directly changing the setting of motion setting parameter OL10
(Speed reference setting) instead of executing the VEL command.

8-31
 8 Command Reference
8.1.6 Set Velocity (VEL)

(b) Override
Motion setting parameter OW18 (Override) can be used to specify a percentage of positioning speed
specified by a VEL command to be output (output ratio).
The default setting of motion setting parameter OW18 is 10000 (100.00%).

VEL command Override = Positioning speed

˜
reference value 0 to 327.67%

VEL command
reference value Override (OW18) Positioning speed

TERMS  Override
Override often means “to invalidate.” In this manual, however, it should be taken to mean “changing” the set value.

Motion setting parameter OW18 (Override) can be changed while an axis is moving.
Speed (V)

150% of VEL

VEL command 100% of VEL

reference value
50% of VEL

One positioning related command block

Time (t)

Override
OW18
150.00%
100.00%
50.00%

Time (t)

Fig. 8.15 OW18 (Override) and Positioning Related Command

• The SVR module does not have motion setting parameter OW18 (Override).
INFO
• For the Set Time Positioning command (MVT), the positioning speed used for override is not the VEL command refer-
ence value. The positioning speed changed by executing the Set Time Positioning command (MVT) is used for over-
ride.
• When using an override for the Set Time Positioning command (MVT), the positioning will not complete within the
specified time.
The MP2000 system calculates the positioning speed at execution of the Set Time Positioning command (MVT) assum-
ing the override to be 100%.
• The speed unit of the rated speed specified by the motion fixed parameter is different from the speed unit used for VEL
command coded in a motion program.

Speed Speed Unit

Motion fixed parameter 34: Rated
rotations/min
motor speed
Set Velocity command (VEL) reference units/s, 10n reference units/min, 0.01%, 0.0001%

Refer to (c) Motor Speed Specifications to calculate the rated speed according to the speed unit for the Set Velocity
command (VEL).

8-32
 8.1 Axis Setting Commands

(c) Motor Speed Specifications

In addition to the VEL command reference range, the motor rated speed and max. speed must be taken into
consideration to decide the set value for the VEL command. To avoid causing an overspeed, check the speed
specifications of your motor before setting a value for the VEL command.

For rotational motors, the speed specifications are expressed in unit of rotations per specified time of period.
INFO
The rated speed when the speed unit is 10n reference units/min is calculated according to the motion fixed parameter set-
tings.
• Parameter Setting Example: When Electronic Gear is Enabled
Note: When motion fixed parameter 4 (Reference unit selection) is set to a unit other than pulse, the elec-
tronic gear is valid.

Motion fixed parameters

• No. 4: Reference unit selection = mm
• No. 5: Number of digits below decimal point = 3
• No. 6: Travel distance per machine rotation = 10000 reference units
• No. 8: Servo motor gear ratio: 3
• No. 9: Machine gear ratio = 2
• No. 34: Rated motor speed = 3000 rotations/min

Motor The machine shaft rotates two times when

the motor is rotated three times (gear ratio)

Workpiece

Ball screw

The table moves 10 mm for each rotation of the

machine shaft
(Travel amount per one machine rotation)

When the electronic gear is enabled, n of the speed unit 10n reference units/min is the number of digits below the decimal
point. Therefore, the speed unit is:
10n reference units/min = 103 • 0.001mm/min = [mm/min] Command Reference

The machine shaft rotation speed when the motor rotates at the rated speed:
Rated speed [rotations/min] × Gear ratio
= 3000 × (2/3) = 2000 [rotations/min]

To convert the number of rotations of the machine shaft into a reference unit (0.001 mm),
Travel distance per machine rotation [0.001 mm/rotation] × 2000 [rotation/min]
= 10000 × 2000 = 20000000 [0.001mm/min]

Because the speed unit is [mm/min],

20000000[0.001mm/min] = 20000[mm/min]

- Continues to the next page -

8-33
 8 Command Reference
8.1.6 Set Velocity (VEL)

- Continued from the previous page -

• Parameter Setting Example: When the Electronic Gear is Disabled and an SVA-01 Module is Used
Note: When motion fixed parameter 4 (Reference unit selection) is set to pulse, the electronic gear is
invalid.

Motion Fixed Parameters

• No. 4: Reference unit selection = pulse
• No. 22: Pulse counting mode selection = A/B × 4 (× 4)
• No. 34: Rated motor speed = 3000 rotations per min
• No. 36: Number of pulses per motor rotation (before multiplication) = 16384
pulses/rotation

When the electronic gear is disabled, n of the speed unit 10n reference units/min is 3. Therefore, the speed unit is:
[10n reference units/min] = [103 pulse/min] = [1000 pulses/min]

To convert the motor rated speed into pulses,

Rated motor speed [rotations/min] × (Number of pulses per motor rotation [pulse/rotation] × multiplier)
= 3000 × (16384 × 4) = 196608000 [pulses/min]

Because the speed unit is 1000 pulses/min,

196608000 [pulses/min] = 196608 [1000 pulses/min]

• Parameter Setting Example: When the Electronic Gear is Disabled and a Built-in SVB, SVB-01, PO-01, or
SVR Module is Used
Note: When motion fixed parameter 4 (Reference unit selection) is set to pulse, the electronic gear is
invalid.

Motion Fixed parameters

• No. 4: Reference unit selection = pulse
• No. 34: Rated motor speed = 3000 rotations/min
• No. 36: Number of pulses per motor rotation = 65536 pulses/rotation

When the electronic gear is disabled, n of the speed unit 10n reference units/min is 3. Therefore, the speed unit is:
[10n reference units/min] = [103 pulses/min] = [1000 pulses/min]

To convert the motor rated speed into pulses,

Rated motor speed [rotations/min] × Number of pulses per motor rotation [pulses/rotation]
= 3000 × 65536 = 196608000 [pulses/min]

Because the speed unit is 1000 pulses/min,

196608000 [pulses/min] = 196608 [1000pulses/min]

Motion fixed parameters other than those mentioned in the examples may be required to be correctly set for the correct
axis motions.
For details on each parameter and information on how to set them in accordance with the connected machine, refer to the
relevant motion module manual.

8-34
 8.1 Axis Setting Commands

8.1.7 Maximum Interpolation Feed Speed Setting (FMX)

Motion Programs Sequence Programs
Applicable Not applicable

(1) Overview
The Maximum Interpolation Feed Speed Setting command (FMX) sets the maximum feed speed for interpolation
related commands MVS, MCW, MCC, and SKP. The maximum speed set by FMX command execution remains
in effect until it is reset by the next FMX command.
The maximum feed speed for interpolation is not yet set at the moment the program operation starts. It is neces-
sary to execute an FMX command before executing any of the following interpolation related commands.
• Linear Interpolation command (MVS)
• Circular Interpolation command (MCW, MCC)
• Helical Interpolation command (MCW, MCC)
• SKP command (Linear interpolation with skip function) (SKP)
• Interpolation Feed Speed Ratio Setting command (IFP)
• Interpolation Acceleration Time Change command (IAC)
• Interpolation Deceleration Time Change command (IDC)

Speed (V)

Max. feed speed

for interpolation

Feed speed
for interpolation

Time (t)
Interpolation Interpolation
acceleration time deceleration time

Fig. 8.16 Maximum Interpolation Feed Speed Setting Command (FMX)

• Execution of any interpolation related command is subject to the preset maximum feed speed for interpolation. For
INFO
example, the Interpolation Acceleration Time Change command (IAC) and the Interpolation Deceleration Time Change
(IDC) set the time required to reach the maximum feed speed for interpolation from the speed of 0.
• Executing an interpolation related command MVS, MCW, MCC, SKP, IFP, IAC, or IDC without first having executed
an FMX command will cause an alarm in the motion program. Command Reference

(2) Format

FMX T Interpolation max. feed speed ;

Item Unit Usable Data

Max. feed  Directly designated value
speed for Reference units/min
interpolation  Double integer type register (Indirect designation)

8-35
 8 Command Reference
8.1.7 Maximum Interpolation Feed Speed Setting (FMX)

(3) Setting Items for FMX Command

Motion Image

Speed (V)

a) Max. feed speed

for interpolation
(FMX)
(Composite speed)

Feed speed
for interpolation
(F designation or IFP)
(Composite speed)

Time (t)
Interpolation Interpolation
acceleration time deceleration time
(IAC) (IDC)

a) Max. feed speed for interpolation

Specify a numerical value or register following to character T in the FMX command block. The maximum
feed speed reference range is as follows.
1 to 231-1 (reference units/min)

The maximum feed speed for interpolation is the control data used for all interpolation related commands.
Therefore, an FMX command must be coded at the beginning of the motion program when using an interpo-
lation command MVS, MCW, MCC, or SKP.

(4) Programming Examples

An FMX command programming example is shown below.
EXAMPLE

INC; " Incremental mode

FMX T300000; " Maximum interpolation feed speed
IAC T4000; " Interpolation acceleration time change [ms]
IDC T4000; " Interpolation deceleration time change [ms]
IFP P75; " Interpolation feed speed ratio setting [%]
MVS [A1]30000 [B1]30000; " Linear interpolation
MVS [A1]30000 [B1]30000 F150000; " Linear interpolation (F command)
END;

Composite speed (V)

[reference unit/min]

300000 FMX
(100%)
225000 IFP
(75%)
150000 F command
(50%) of MVS

4s Time (t)
4s
IAC IDC [s]
Fig. 8.17 Maximum Interpolation Feed Speed Command Programming Example

(5) Supplemental Information on FMX Command

(a) Related Motion Parameters
There are no motion setting parameters related to the FMX command.
The maximum feed speed for interpolation specified by executing an FMX command is the control data
exclusively reserved for motion programs, and cannot be specified by using a motion setting parameter.

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 8.1 Axis Setting Commands

8.1.8 Interpolation Feed Speed Ratio Setting (IFP)

Motion Programs Sequence Programs
Applicable Not applicable

(1) Overview
The Interpolation Feed Speed Ratio Setting command (IFP) sets the feed speed for the following axis move com-
mands as a percentage of the maximum feed speed for interpolation.
• Linear Interpolation command (MVS)
• Circular Interpolation command (MCW, MCC)
• Helical Interpolation command (MCW, MCC)
• SKP command (Linear interpolation with skip function) (SKP)
In this manual, the above axis move commands are referred to as Interpolation Related Commands, and the feed
speed of Interpolation Related Commands is referred to as the Interpolation Feed Speed. The interpolation feed
speed set by IFP command execution remains in effect until it is reset by the next IFP command.
The interpolation feed speed is not set when the program operation starts. It is necessary to set an interpolation
feed speed by executing the Interpolation Feed Speed Ratio Setting (IFP) or F designation before executing any
interpolation related commands.

Speed (V)
[%] 100% = Max. interpolation feed speed
100

Interpolation
feed speed
ratio

Time (t)

Fig. 8.18 Interpolation Feed Speed Ratio Setting Command (IFP)

• Specify the maximum feed speed for interpolation by executing the Maximum Interpolation Feed Speed Setting com-
INFO mand (FMX) before executing the IFP command. Executing the IFP command without first having specified the maxi-
mum feed speed will cause an alarm in the motion program.
• F designations can be used to specify the interpolation feed speed by writing a numerical value or register following to
a character F for interpolation related commands. Specify the interpolation feed speed in reference units/min.
• If an IFP command is executed after F designation, the interpolation feed speed specified by the F designation will be
cancelled. If an F designation is executed after IFP command execution, the interpolation feed speed specified by the
IFP command will be cancelled as well.
Command Reference

• Executing an interpolation related command without first having specified the interpolation feed speed will cause an
alarm in the motion program.
• The Interpolation Feed Speed Ratio Setting command (IFP) sets the feed speed for interpolation related commands
MVS, MCW, MCC, and SKP. Use the VEL command to set the feed speed for positioning related commands MOV and
EXM.

8-37
 8 Command Reference
8.1.8 Interpolation Feed Speed Ratio Setting (IFP)

(2) Format

IFP P Interpolation feed speed ratio;

Item Unit Usable Data

Interpolation %  Directly designated value
feed speed
ratio  Double integer type register (Indirect designation)

INFO IFP command cannot be coded in the same block used for an interpolation command MVS, MCW, MCC, or SKP.

(3) Setting Items for IFP Command

Motion Image

Speed (V)
[%]

Max. feed speed

100 for interpolation
(FMX)
(Composite speed)

a) Interpolation feed
speed ratio
(IFP)

Time (t)
Interpolation Interpolation
acceleration time deceleration time
(IAC) (IDC)

a) Interpolation feed speed ratio

Specify a numerical value or register following to character P in the IFP command block.
The IFP command sets a percentage of the maximum interpolation feed speed (FMX) as the interpolation
feed speed.
The interpolation feed speed is a composite speed of all the axes specified for an interpolation related com-
mand MVS, MCW, MCC, or SKP.
The interpolation feed speed ratio reference range is as follows.
1 to 100 (%)

You can select whether or not to apply an interpolation override to the interpolation feed speed.
Refer to 4.3.3 Work Registers for information on how to use the interpolation override.

• When not using an interpolation override

IFP reference value

FMX reference value × = Interpolation feed speed
1 to 100%
FMX IFP Interpolation
reference value reference value feed speed

8-38
 8.1 Axis Setting Commands

• When using an interpolation override

FMX reference value × IFP reference value × Interpolation override = Interpolation feed speed
1 to 100% 0 to 327.67%
FMX IFP Interpolation Interpolation
reference value reference value override feed speed

• The interpolation feed speed can be specified by using either an IFP command or F designation.
INFO
Refer to b) Interpolation feed speed in (3) Setting Items for MVS Command in 8.2.2 Linear Interpolation (MVS) for
details.
• If a value higher than 100 (%) is specified for the IFP reference value (%), an alarm will occur in the motion program.
• If an interpolation override applied interpolation feed speed exceeds the FMX reference value, the actual output value
of the interpolation feed speed will be reset to the FMX reference value.

(4) Programming Examples

An IFP command programming example is shown below.
EXAMPLE

INC; " Incremental mode

FMX T300000; " Maximum interpolation feed speed setting [reference unit/min]
IAC T4000; " Interpolation acceleration time change [ms]
IDC T4000; " Interpolation deceleration time change [ms]
IFP P75; " Interpolation feed speed ratio setting [%]
MVS [A1]30000 [B1]30000; " Linear interpolation
DL00000 = 50; " Interpolation feed speed ratio [%]
IFP PDL00000; " Interpolation feed speed ratio setting [%]
MVS [A1]30000 [B1]30000; " Linear interpolation
END;

Composite speed (V)

[%]
100% = Max. feed speed for interpolation
100 300000 (reference units/min)
75 225000 (reference units/min)

50 150000 (reference units/min)

Command Reference

Time (t)

Fig. 8.19 Interpolation Feed Speed Ratio Setting Command (IFP)

(5) Supplemental Information on IFP Command

(a) Related Motion Parameters
There is no motion setting parameter related to the IFP command.
The interpolation feed speed ratio specified by executing an IFP command is the control data exclusively
reserved for motion programs, and cannot be specified by using a motion setting parameter.

8-39
 8 Command Reference
8.1.9 Interpolation Acceleration Time Change (IAC)

8.1.9 Interpolation Acceleration Time Change (IAC)

Motion Programs Sequence Programs
Applicable Not applicable

(1) Overview
The Interpolation Acceleration Time Change command (IAC) changes the acceleration time for the following
axis move commands.
• Linear Interpolation command (MVS)
• Circular Interpolation command (MCW, MCC)
• Helical Interpolation command (MCW, MCC)
• SKP command (Linear interpolation with skip function) (SKP)
In this manual, the above axis move commands are referred to as interpolation related commands.
The Maximum Interpolation Feed Speed Setting command (FMX) must be executed before executing the IAC
command. The acceleration time changed by the IAC command remains until it is reset by the next IAC com-
mand.
The interpolation acceleration time is 0 ms when the program starts running.
Speed (V)

Max. feed speed

for interpolation
Feed speed
for interpolation

IAC Time (t)

Before interpolation acceleration time change

Speed (V)
Max. feed speed
for interpolation
Feed speed
for interpolation

IAC Time (t)

After interpolation acceleration time change

Fig. 8.20 Interpolation Acceleration Time Change Command (IAC)

The Interpolation Acceleration Time Change command (IAC) changes the acceleration time for interpolation related com-
INFO
mands MVS, MCW, MCC, and SKP.
Use ACC command to set the acceleration time for positioning related commands MOV, EXM, and MVT.

(2) Format

IAC T Interpolation acceleration time;

Item Unit Usable Data

Interpolation ms  Directly designated value
acceleration  Double integer type register (Indirect designation)
time

8-40
 8.1 Axis Setting Commands

(3) Setting Items for IAC Command

Motion Image

Speed (V)

Max. feed speed

for interpolation
(FMX)
(Composite speed)

Feed speed for

interpolation
(F designation or IFP)
(Composite speed)

Time (t)
a) Interpolation
acceleration time (IAC)

a) Interpolation acceleration time

Specify a numerical value or register following to character T in the IAC command block.
The time set by executing an IAC command is the time required to reach the maximum feed speed from the
speed of 0.
The interpolation acceleration time reference range is as follows.
0 to 32767 (ms)

(4) Programming Examples

An IAC command programming example is shown below.
EXAMPLE

INC; " Incremental mode

FMX T300000; " Maximum interpolation feed speed setting [reference unit/min]
IDC T4000; " Interpolation deceleration time change [ms]
IAC T2000; " Interpolation acceleration time change [ms]
MVS [A1]30000 [B1]30000 F150000; " Linear interpolation
DL00000 = 4000; " Interpolation acceleration time [ms]
IAC TDL00000; " Interpolation acceleration time change [ms]
MVS [A1]30000 [B1]30000; " Linear interpolation
END; Command Reference

Composite speed (V)

[reference unit/min]

300000 FMX

150000 F command of
MVS

IAC IAC Time (t)

2s 4s [s]

Fig. 8.21 Interpolation Acceleration Time Change Command Programming Example

8-41
 8 Command Reference
8.1.9 Interpolation Acceleration Time Change (IAC)

(5) Supplemental Information on IAC Command

(a) Related Motion Parameters
There is no motion setting parameter related to the IAC command.
The interpolation acceleration time specified by executing the IAC command is the control data exclusively
reserved for motion programs, and cannot be specified by using a motion setting parameter.

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 8.1 Axis Setting Commands

8.1.10 Interpolation Deceleration Time Change (IDC)

Motion Programs Sequence Programs
Applicable Not applicable

(1) Overview
The Interpolation Deceleration Time Change command (IDC) changes the deceleration time for the following
axis move commands.
• Linear Interpolation command (MVS)
• Circular Interpolation command (MCW, MCC)
• Helical Interpolation command (MCW, MCC)
• SKP command (Linear interpolation with skip function) (SKP)
In this manual, the above axis move commands are referred to as interpolation related commands.
The Maximum Interpolation Feed Speed Setting command (FMX) must be executed before executing the IDC
command. The deceleration time changed by the IDC command remains until it is reset by the next IDC com-
mand.
The interpolation deceleration time is 0 ms when the program starts running.
Speed (V)
Max. feed speed
for interpolation
Feed speed for
interpolation

Time (t)
IDC
Before interpolation deceleration time change

Speed (V)
Max. feed speed
for interpolation

Feed speed for

interpolation

IDC Time (t)

After interpolation deceleration time change

Fig. 8.22 Interpolation Deceleration Time Change Command (IDC)

The Interpolation Deceleration Time Change command (IDC) sets the deceleration time for interpolation related com-
INFO
mands MVS, MCW, MCC, and SKP.
Command Reference

Use the DCC command to set the deceleration time for positioning related commands MOV, EXM, and MVT.

8-43
 8 Command Reference
8.1.10 Interpolation Deceleration Time Change (IDC)

(2) Format

IDC T Interpolation deceleration time ;

Item Unit Usable Data

Interpolation ms  Directly designated value
deceleration
time  Double integer type register (Indirect designation)

(3) Setting Items for IDC Command

Motion Image

Speed (V)

Max. feed speed

for interpolation
(FMX)
(Composite speed)

Feed speed for

interpolation
(F designation or IFP)
(Composite speed)

Time (t)
a) Interpolation deceleration
time (IDC)

a) Interpolation deceleration time

Specify a numerical value or register following to T in the IDC command block.
The time set by executing the IDC command is the time to decelerate from the maximum feed speed for
interpolation to the speed of 0.
The interpolation deceleration time reference range is as follows.
0 to 32767 (ms)

8-44
 8.1 Axis Setting Commands

(4) Programming Examples

EXAMPLE
An IDC command programming example is shown below.

INC; " Incremental mode

FMX T300000; " Maximum interpolation feed speed setting [reference unit/min]
IAC T4000; " Interpolation acceleration time change [ms]
IDC T2000; " Interpolation deceleration time change [ms]
MVS [A1]30000 [B1]30000 F150000; " Linear interpolation
DL00000 = 4000; " Interpolation deceleration time [ms]
IDC TDL00000; " Interpolation deceleration time change [ms]
MVS [A1]30000 [B1]30000; " Linear interpolation
END;

Composite speed (V)

[reference unit/min]

300000 FMX

150000 F command of
MVS

IDC IDC Time (t)

2s 4s [s]

Fig. 8.23 Interpolation Deceleration Time Change Command Programming Example

(5) Supplemental Information on IDC Command

(a) Related Motion Parameters
There is no motion setting parameter related to the IDC command.
The interpolation deceleration time set by executing the IDC command is the control data exclusively
reserved for motion programs, and cannot be set by using a motion setting parameter.

Command Reference

8-45
 8 Command Reference
8.1.11 Set Interpolation Acceleration/Deceleration Mode (ACCMODE)

8.1.11 Set Interpolation Acceleration/Deceleration Mode (ACCMODE)

Motion Programs Sequence Programs
Applicable Not applicable

(1) Overview
The Set Interpolation Acceleration/Deceleration Mode (ACCMODE) command sets the acceleration/decelera-
tion mode for the following interpolation commands. You can use the Set Interpolation Acceleration/Decelera-
tion Mode (ACCMODE) command to connect the speeds between continuous interpolation commands.
• Linear Interpolation command (MVS)
• Circular Interpolation command (MCW, MCC)
• Helical Interpolation command (MCW, MCC)
• SKP command (Linear interpolation with skip function) (SKP)
The interpolation acceleration/deceleration mode set by the ACCMODE command remains in effect until it is
changed by another ACCMODE command.
The interpolation acceleration/deceleration mode is set to the default mode (interpolation acceleration/decelera-
tion mode 0) when program operation starts.

1. The interpolation acceleration/deceleration mode cannot be changed between continuous interpolation blocks.
INFO
Change the interpolation acceleration/deceleration mode only after the axes decelerate to a stop.
2. If the interpolation acceleration/deceleration mode is set out of range, the operation depends on the version of the CPU
Module.
Software Version MPE720 Version 6.36 or Later MPE720 Version 6.35 or Earlier
A motion program alarm (31 hex: A motion program alarm (31 hex: Not
CPU Module Ver-
Address M out of range) will occur when registered) will occur when an interpola-
sion 2.86 or Later
an interpolation command is executed. tion command is executed.
CPU Module Ver- An alarm will not occur even when an interpolation command is executed.
sion 2.85 or Earlier The current interpolation acceleration/deceleration mode will be retained.

3. When the PFORK command is used, the interpolation acceleration/deceleration mode setting before branching to the
forks is inherited by all of the forks. After branching, you can set the interpolation acceleration/deceleration mode for
each fork independently.

8-46
 8.1 Axis Setting Commands

Speed (V)

Time (t)
Before the Interpolation Acceleration/Deceleration Mode Is Set

Speed (V)

Time (t)
After the Interpolation Acceleration/Deceleration Mode Is Set

Fig. 8.24 Set Interpolation Acceleration/Deceleration Mode

(2) Format
The format of the ACCMODE command is as follows:
ACCMODE Minterpolation_acceleration_deceleration_mode;

Item Unit Usable Data

Interpolation acceleration/
− Directly designated value (0 to 4)
deceleration mode

(3) Setting Items for ACCMODE Command

This section describes the settings for the ACCMODE command.
The interpolation acceleration/deceleration mode is set by specifying a numerical value after the character “M” in
the ACCMODE command.
There are five interpolation acceleration/deceleration modes.
Command Reference

• Interpolation acceleration/deceleration mode 0 (default mode)

• Interpolation acceleration/deceleration mode 1 (acceleration/deceleration mode with continuous process
control signal monitoring)
• Interpolation acceleration/deceleration mode 2 (acceleration/deceleration mode with interpolation over-
lapping)
• Interpolation acceleration/deceleration mode 3 with continuous deceleration for minute blocks (accelera-
tion/deceleration mode with continuous process control signal monitoring)
• Interpolation acceleration/deceleration mode 4 (acceleration/deceleration mode with next block speed
specification)

8-47
 8 Command Reference
8.1.11 Set Interpolation Acceleration/Deceleration Mode (ACCMODE)

(4) ACCMODE Details

This section describes the five interpolation acceleration/deceleration modes of the ACCMODE command.
(a) Interpolation Acceleration/Deceleration Mode 0 (Default Mode) Details
In this mode, acceleration and deceleration are performed according to the acceleration/deceleration times set
with the IAC and IDC commands.
This is the default mode when program operation starts.
Speed (V)
Acceleration and deceleration according IAC = IDC = 0
to the IAC and IDC commands

Time (t)

■ Format
Use the following code format to select interpolation acceleration/deceleration mode 0.
ACCMODE M0;

(b) Interpolation Acceleration/Deceleration Mode 1 (Acceleration/Deceleration Mode with

Continuous Process Control Signal Monitoring) Details
This mode monitors a continuous process control signal and performs continuous processing between con-
secutive interpolation blocks when the specified conditions are satisfied.
This mode can be used only when the same axes are used for all consecutive interpolation blocks.
Speed (V)
Acceleration and deceleration Speed maintained.
according to the IAC and IDC commands

Time (t)
Condition satisfied. Condition not satisfied.
Continuous process
control signal

8-48
 8.1 Axis Setting Commands

■ Format
Use the following format to select interpolation acceleration/deceleration mode 1.
ACCMODE M1;
MVS [Logical_axis_name_1] Reference_position Finterpolation_feed_speed TWcontinuous_process_con-
trol_signal;
Or
ACCMODE M1;
MVS [Logical_axis_name_1] Reference_position Finterpolation_feed_speed FWcontinuous_process_con-
trol_signal;

Item Unit Usable Data

Continuous process con-
− All bit data registers (excluding #, C, and D registers)
trol signal

Note: The format is the same for the MCC, MCW, and SKP commands.

If the characters “TW” or “FW” are added to the interpolation command, continuous process control signal mon-
itoring is performed. The bit data register specified with the characters “TW” or “FW” is used as the continuous
process control signal.
If the characters “TW” or “FW” are not added to the interpolation command, or if the conditions are not satisfied,
the continuous process control signal is not monitored and acceleration/deceleration is performed according to
the acceleration/deceleration times set with the IAC and IDC commands.

The characters “TW” and “FW” are valid only for interpolation acceleration/deceleration modes 1 and 3 (acceleration/
INFO
deceleration modes with continuous process control signal monitoring). In other modes, the operation depends on the soft-
ware version of the CPU Module.

Software Version MPE720 Version 6.36 or Later MPE720 Version 6.35 or Earlier
A motion program alarm (32 hex: Speci- A motion program alarm (32 hex: Not
CPU Module Ver-
fied address error) will occur when an registered) will occur when an interpola-
sion 2.86 or Later
interpolation command is executed. tion command is executed.
CPU Module Ver- An alarm will not occur even when an interpolation command is executed.
sion 2.85 or Earlier The TW or FW address is ignored and the interpolation command is executed.

The characters “TW” designate monitoring the continuous process control signal with positive logic.

Continuous Process
Operation Summary
Control Signal
The deceleration time specified with the IDC command is ignored. The current speed is
ON
maintained and pulse distribution is completed with a deceleration time of 0 ms.
Command Reference

The axis decelerates to a stop according to the deceleration time specified with the IDC
OFF
command.

The characters “FW” designate monitoring the continuous process control signal with negative logic.

Continuous Process
Operation Summary
Control Signal
The axis decelerates to a stop according to the deceleration time specified with the IDC
ON
command.
The deceleration time specified with the IDC command is ignored. The current speed is
OFF
maintained and distribution is completed with a deceleration time of 0 ms.

IMPORTANT If you specify a travel distance that is insufficient to perform continuous processing with the set
deceleration time, unexpected operation may occur. Also specify a sufficient travel distance.

8-49
 8 Command Reference
8.1.11 Set Interpolation Acceleration/Deceleration Mode (ACCMODE)

■ Programming Examples
The following example programming uses interpolation acceleration/deceleration mode 1 (acceleration/
deceleration mode with continuous process control signal monitoring).
FMX T30000000;
ABS;
IAC T1000;
IDC T1000;

ACCMODE M1;

MVS [A1]4000 F50000 TWMB000001; “”

IOW MB000001=1; “”
MVS [A1]8000; “”

END;

The following examples show how to combine the MVS command and interpolation acceleration/deceleration
mode 1.
• When the Continuous Process Control Signal Turns ON after Distribution for MVS Com-
mand  Is Completed
The next block is executed after the axis decelerates to a stop for the MVS command .
For the MVS command , acceleration begins when the speed is 0 (reference units/min).
Speed (V)

IOW 
 

Time (t)

MB000001

• When the Continuous Process Control Signal Turns ON during Distribution for MVS 
(before Deceleration)
MVS  is executed at the same speed from MVS  without decelerating.
Speed (V)
IOW 
(Do not wait if the conditions are already satisfied.)

 

Time (t)

MB000001

8-50
 8.1 Axis Setting Commands

• When the Continuous Process Control Signal Turns ON during Distribution for MVS 
(during Deceleration)
MVS  is executed with the same speed as when the continuous process signal turned ON.
Speed (V)
IOW 
(Do not wait if the conditions are already satisfied.)

 

Time (t)

MB000001

1. If the reference speed for MVS  is higher than for MVS , the end speed of  is used for the start speed of . The
INFO
axis then accelerates to the specified speed.
2. If the reference speed for MVS  is lower than for MVS , the end speed of  is used for the start speed of . The
axis then decelerates to the specified speed.
3. If the travel distance for MVS  is shorter than the deceleration distance, distribution is finished during the decelera-
tion of .

■ Additional Information
Refer to the following additional information for details on operation in the acceleration/deceleration mode with
continuous process control signal monitoring.
• Request Temporary Stop Operation
Temporary Stop Request before the Interpolation Distribution for the Next Block Begins
The axis decelerates according to the interpolation deceleration time specified with the IDC command.
No continuous processing to the next interpolation block is performed.
Temporary Stop Request after the Interpolation Distribution for the Next Block Begins
The axis decelerates according to interpolation deceleration time specified with the IDC command for both
the previous block and the next block.
After the temporary stop request is removed, distribution of the remaining distance is performed for both the
previous block and the next block.
• Request Stop Operation
The interpolation block for the axis in motion stops immediately.
• Program Single-block Mode Operation
Command Reference

No continuous processing to the next interpolation block is performed.

• Debug Mode Operation
No continuous processing to the next interpolation block is performed.
• Operation When the Next Block Is Not an Interpolation Command Block
No continuous processing to the next block is performed.
Acceleration begins from a speed of 0 for the next block.
• Operation When the Interpolation Deceleration Time (IDC) Is Set to 0 ms
Continuous processing to the next interpolation block is performed, regardless of the status of the continuous
process control signal.
• Continuous Operation during Parallel Execution (PFORK)
Continuous processing is not performed across a PFORK command.
Set the commands so that processing for this mode ends during each fork.

8-51
 8 Command Reference
8.1.11 Set Interpolation Acceleration/Deceleration Mode (ACCMODE)

(c) Interpolation Acceleration/Deceleration Mode 2 (Acceleration/Deceleration Mode with

Interpolation Overlapping) Details
In this mode, the distribution for each interpolation block is made to overlap by starting acceleration for the next
interpolation block during the deceleration for the current interpolation block for continuous processing between
consecutive interpolation blocks.
Each block accelerates and decelerates according to the acceleration times and deceleration times that are set
with the IAC and IDC commands.
This mode is valid for the MVS, MCW, and MCC commands.
Speed (V)
IAC = IDC IAC > IDC IAC < IDC

Time (t)

■ Format
ACCMODE M2;
MVS [Logical_axis_name_1] Reference_position Finterpolation_feed_speed Dinterpolation_overlap_dis-
tance;

Item Unit Usable Data

Interpolation overlap dis- • Directly designated value
Reference units
tance • Indirect designation with a double-length integer register

Note: The interpolation overlap distance can be omitted.

The format is the same for the MCC and MCW commands.

In this mode, you can add the character “D” to an interpolation command to specify the maximum distance for
the interpolation distribution to overlap.
When the character “D” is added to an interpolation command in this mode, distribution for the next interpolation
block begins when the remaining travel distance for the current interpolation block falls below the interpolation
overlap distance. If 0 (reference units) is specified for the interpolation overlap distance, distribution for the next
interpolation block begins when the current interpolation block begins deceleration.
If the character “D” is not specified for the interpolation command, the last interpolation overlap distance speci-
fied in the motion program is used.
The interpolation overlap distance is set to 0 (reference units) when program operation starts.

IMPORTANT A compiling error will occur if the character “D” is used with MPE720 version 6. MPE720 version 6 does not
support character “D.”

1. The character “D” is valid only in interpolation acceleration/deceleration mode 2.

INFO
In other interpolation acceleration/deceleration modes, the operation depends on the software version of the CPU Mod-
ule.
Software Version MPE720 Version 7.24 or Later MPE720 Version 7.23 or Earlier
A motion program alarm (32 hex: Speci- A motion program alarm (32 hex: Not
CPU Module Ver-
fied address error) will occur when an registered) will occur when an interpola-
sion 2.86 or Later
interpolation command is executed. tion command is executed.
CPU Module Ver- An alarm will not occur even when an interpolation command is executed.
sion 2.85 or Earlier The D address is ignored and the interpolation command is executed.

2. The valid range for the interpolation overlap distance is 0 to 2,147,483,647 (reference units).
If a negative value is specified, the absolute value is used.
3. Interpolation acceleration/deceleration mode 2 can be used only with the following versions.
• CPU Module version: Version 2.84 or later
• MPE720 version: Version 7.10 or later

8-52
 8.1 Axis Setting Commands

■ Conditions to Begin Distribution for the Next Interpolation Block

Distribution for the next interpolation block begins when all of the following conditions are satisfied.

No. Condition
1 Not in Program Single-block Mode.
2 Control signal bit 1 (Request Temporary Stop) is OFF.
3 No PFN commands have been added to the interpolation commands.
4 The interpolation block must have started deceleration. (Refer to the timing of  in the following figure.)
The remaining distance for the interpolation block is less than the interpolation overlap distance that was specified
5
after the character “D.” (Refer to the timing of  in the following figure.)
The remaining deceleration time of the current interpolation block is less than the acceleration time of the next
6
interpolation block. (Refer to the timing of  in the following figure.)

Speed The distance specified after the character “D.”

Current Interpolation
Block Speed Waveform

 Acceleration time for the next block Time

Speed Distribution started

for the next block. 
Next Interpolation Next block
Block Speed Waveform

Time

Speed

Composite Speed
Waveform

Time

■ Programming Examples
A programming example for the acceleration/deceleration mode with interpolation overlapping is given below.
FMX T300000;
INC;
IAC T1000;
Command Reference

IDC T2000;

ACCMODE M2;

MW00010 = 30;
MVS[A1]20000 [B1]10000 F200000; “Linear interpolation ”
MW00010 = 20;
MVS[A1]10000 [B1]-20000 D100; “Linear interpolation ”
MW00010 = 10;
MVS[A1]20000 [B1]10000; “Linear interpolation ”
MW00010 = 0;

END;

8-53
 8 Command Reference
8.1.11 Set Interpolation Acceleration/Deceleration Mode (ACCMODE)

In processing for ACCMODE2, execution moves to the next execution block in the program when deceleration
occurs for the interpolation block or when the interpolation overlap distance becomes equal to or less than the
specified interpolation overlap distance.
S-type commands (e.g., operation commands) that occur during continuous processing for interpolation blocks
are executed when program execution moves to the next block.
The speed waveform for the programming example is given below.

Composite speed (V) Region where the Region where the

(reference units/min) interpolation interpolation
distribution overlaps distribution overlaps

300000

200000

Linear Linear Linear

interpolation  interpolation  interpolation 

Time (t)[s]
Interpolation distribution for linear Interpolation distribution for linear interpolation
interpolation  starts during the  starts when the remaining distance for linear
deceleration of linear interpolation . interpolation  falls below the interpolation
overlap distance.
30
20
MW00010
10
0

The interpolated path for the above programming example is given below.
As shown in the figure below, some interpolation block end points (i.e., the start point for the next interpolation
block) do not pass through the movement path because the distribution for the next interpolation block starts
during deceleration of the current interpolation block.
Axis B1
Linear interpolation  Linear interpolation 

Linear interpolation 

Interpolation overlap distance

Axis A1

8-54
 8.1 Axis Setting Commands

■ Additional Information
Refer to the following additional information for details on operation in the acceleration/deceleration mode with
interpolation overlapping.
• Request Temporary Stop Operation
Before distribution for the next interpolation block begins, the interpolation block for axes currently in
motion decelerates in the deceleration time specified with the IDC command.
However, no continuous processing to the next interpolation block is performed.
After distribution for the next interpolation block begins, each interpolation block decelerates in the deceler-
ation time specified with the IDC command.
• Request Stop Operation
Each interpolation block stops immediately.
• Program Single-block Mode Operation
No continuous processing to the next interpolation block is performed.
• Debug Mode Operation
No continuous processing to the next interpolation block is performed.
• Operation When the Next Block Is Not an Interpolation Command Block
No continuous processing to the next block is performed.
Acceleration begins from a speed of 0 for the next block.
• Continuous Operation during Parallel Execution (PFORK)
This mode cannot be used across a PFORK command.
Adjust the timing of pulse distribution for the interpolation block with the PFN command so that processing
(i.e., pulse distribution) for this mode is completed within each fork.
• Operation for Execution of T-type Commands
If a T-type command (e.g., a timer command) is executed in continuous processing for an interpolation block,
the distribution timing in the next interpolation block will be changed.

(d) Interpolation Acceleration/Deceleration Mode 3 (Acceleration/Deceleration Mode with

Continuous Process Control Signal Monitoring) Details
In the same way as in interpolation acceleration/deceleration mode 1 (acceleration/deceleration mode with con-
tinuous process control signal monitoring), interpolation acceleration/deceleration mode 3 (acceleration/deceler-
ation mode with continuous process control signal monitoring) monitors a continuous process control signal and
performs continuous processing between consecutive interpolation blocks when the specified conditions are sat-
isfied.
However, opposed to interpolation acceleration/deceleration mode 1 (acceleration/deceleration mode with con-
Command Reference

tinuous process control signal monitoring), when continuous processing is performed for a minute block with a
minute travel distance, deceleration is performed as much as possible to the specified speed in continuous pro-
cessing between consecutive interpolation blocks.

A minute block is an interpolation bock with a travel distance that is too small for the distance required to decelerate to a
INFO
stop at the specified deceleration rate from the speed for continuous processing operation.

8-55
 8 Command Reference
8.1.11 Set Interpolation Acceleration/Deceleration Mode (ACCMODE)

■ Format
Use the following format when interpolation acceleration/deceleration mode 3 (acceleration/deceleration mode
with continuous process control signal monitoring) is set. Refer to (b) Interpolation Acceleration/Deceleration
Mode 1 (Acceleration/Deceleration Mode with Continuous Process Control Signal Monitoring) Details for
details on continuous processing control signals.

ACCMODE M3
MVS [Logical_axis_name_1] Reference_position ... Finterpolation_feed_speed TWcontinuous_process_-
control_signal;

Or

ACCMODE M3
MVS [Logical_axis_name_1] Reference_position ... Finterpolation_feed_speed FWcontinuous_process_-
control_signal;

Note: The format is the same for the MCC, MCW, and SKP commands.

The characters “TW” and “FW” are valid only for this mode and for interpolation acceleration/deceleration mode 1 (accel-
INFO
eration/deceleration mode with continuous process control signal monitoring). In other modes, the operation when the
characters “TW” or “FW” are specified depends on the software version of the CPU Module.

Software Version MPE720 Version 6.36 or Later MPE720 Version 6.35 or Earlier
An alarm (32 hex: Specified address An alarm (32 hex: No registered) will
CPU Module Version 2.86
error) will occur when an interpolation occur when an interpolation command is
or Later
command is executed. executed.
CPU Module Version 2.85 An alarm will not occur even when an interpolation command is executed.
or Earlier The TW or FW address is ignored and the interpolation command is executed.

■ Programming Examples
The difference between interpolation acceleration/deceleration modes 1 and 2 for the MVS command is
described below.

INC;
FMX T1000000;
IAC T5000;
IDC T5000;
MB1000=1; // Continuous control signal bit
//Interpolation acceleration/deceleration mode (ACCMODE M1 or ACCMODE M3 executed.)
ACCMODE M1; // ACCMODE M1 or ACCMODE M3
MVS [A1]100000 F600000 TWMB1000; // Linear interpolation 
MVS [A1]5000 F300000 TWMB1000; // Linear interpolation (minute block) 
MVS [A1]100000 F300000 FWMB1000; // Linear interpolation 

END;

8-56
 8.1 Axis Setting Commands

The speed waveform for the programming example is given below.

• Operation in Interpolation Acceleration/Deceleration Mode

Linear Interpolation (Minute Block) 

Speed (V)
(reference units/min) When it is determined that deceleration to the specified
speed, 300,000 reference units/min, is not possible for
the minute block, the current speed is maintained and
continuous processing is performed.
600000
Linear
interpolation 
300000
Linear interpolation 

Time t (s)
• Operation in Interpolation Acceleration/Deceleration Mode

Linear Interpolation (Minute Block) 

Speed (V) Even in the minute block, deceleration is performed as
(reference units/min) close as possible to the specified speed, 300,000
reference units/min, and continuous processing is
performed.

600000
Linear
interpolation 
300000
Linear interpolation 

Time t (s)

■ Additional Information
Additional information on interpolation acceleration/deceleration mode 3 (acceleration/deceleration mode with
continuous process control signal monitoring) is the same as the additional information for interpolation acceler-
ation/deceleration mode 1.

(e) Interpolation Acceleration/Deceleration Mode 4 (Acceleration/Deceleration Mode with

Next Block Speed Specification) Details
In interpolation acceleration/deceleration mode 4 (acceleration/deceleration mode with next block speed specifi-
cation), the final speed is specified for each interpolation block and continuous processing to the next interpola-
tion block is performed at the specified speed.
This mode can be used only when the same axes are used for all consecutive interpolation blocks.
Speed
FE’
Command Reference

FE

Time

■ Format
Use the following format to select interpolation acceleration/deceleration mode 4.

ACCMODE M4
MVS [Logical_axis_name_1] Reference_position ... Finterpolation_feed_speed FEfinal_interpolation_-
feed_speed;

Item Unit Usable Data

• Indirect designation with a double-length integer register
Final interpolation feed speed Reference units/min
• Directly designated value

8-57
 8 Command Reference
8.1.11 Set Interpolation Acceleration/Deceleration Mode (ACCMODE)

Note: The final interpolation feed speed can be omitted. The format is the same for the MCC, MCW, and SKP com-
mands.
In this mode, you can add the characters “FE” to an interpolation command to specify the final speed for the
interpolation block.
If you add the characters “FE” to an interpolation command, pulse distribution is adjusted so that the interpola-
tion block ends at the specified final interpolation feed speed.
If the specified final interpolation feed speed is 0 (speed units), continuous processing is not performed and the
axes decelerate to a stop.
If the characters “FE” are not specified for the interpolation command, the final interpolation feed speed that was
last specified in the motion program is used.
The final interpolation feed speed is 0 (speed units) when program operation starts.

IMPORTANT 1. The characters “FE” are valid only for this mode. In other interpolation acceleration/deceleration modes, a
motion program alarm will occur.
2. The valid range for the final interpolation feed speed is 0 to 2,147,483,647 (speed units). A compiler error
will occur if a negative number is specified.

This mode can be used with the following or later versions.

INFO
• CPU Module version: Version 2.86
• MPE720 version: Version 6.36

■ Programming Example

FMX T6000000;
IAC T1000;
IDC T1000;
INC;
ACCMODE M4;
MVS [A1]300000 F6000000 FE4000000; “Linear interpolation ”
MVS [A1]300000 F3000000 FE6000000; “Linear interpolation ”
MVS [A1]300000 F6000000 FE0; “Linear interpolation ”

END;

The speed waveform for the programming is given below.

Linear Interpolation 
The block is ended at a final interpolation feed
speed of 4,000,000 (reference units/min) and
continuous processing is performed.

Speed (V) Linear Interpolation 

(reference units/min) The block is ended at a final interpolation
feed speed of 6,000,000 (reference units/min)
and continuous processing is performed.

6000000
Linear Interpolation 
4000000 The block is ended at a final
interpolation feed speed of 0
3000000 (reference units/min).
Linear Linear Linear
interpolation  interpolation  interpolation 

Time t (s)

8-58
 8.1 Axis Setting Commands

■ Additional Information
Refer to the following additional information for details on operation in the acceleration/deceleration mode with
next block speed specification.
• Request Temporary Stop Operation
If a temporary stop is requested, the axes decelerate to a stop at the set deceleration rates. If the travel dis-
tance is insufficient, a quick stop is performed at the target position.
• Request Stop Operation
The interpolation block stops immediately.
• Operation When Final Interpolation Feed Speed Is Not Reached
Acceleration or deceleration to the final interpolation feed speed is continued and an immediate stop is per-
formed when the travel distance is reached.
If the next block is an interpolation command, continuous processing is performed when the immediate stop
occurs.
• Program Single-block Mode Operation
No continuous processing to the next interpolation block is performed.
• Debug Mode Operation
No continuous processing to the next interpolation block is performed.
• Operation When the Next Block Is Not an Interpolation Command Block
No continuous processing to the next block is performed.
Acceleration begins from a speed of 0 for the next block.
• Continuous Operation during Parallel Execution (PFORK)
Continuous processing is not performed across a PFORK command.
Set the commands so that processing for this mode ends during each fork.

Command Reference

8-59
 8 Command Reference
8.2.1 Positioning (MOV)

8.2 Axis Move Commands

This chapter described axis move commands.

8.2.1 Positioning (MOV)

Motion Programs Sequence Programs
Applicable Not Applicable

(1) Overview
The Positioning (MOV) command independently moves each axis from the current position to the end position at
positioning speed.
Up to16 axes can be moved simultaneously. Any axis not specified in the command will not be moved.
The path of movement with the MOV command is different from the linear travel.
Logical axis 3

Each axis moves at the Positioning

individually specified speed. end position

Positioning

Logical axis 1

Program
current position

Logical axis 2

Fig. 8.25 Movement Path with MOV Command

CAUTION
• The path of movement with the Positioning (MOV) command is not always a straight line. When program-
ming, be sure to check the path to make sure that there are no tools or other obstacles in the way of the
workpiece.
Failure to carry out this check may result in damage to equipment, serious personal injury, or even death.

(2) Format

MOV [Logical axis name 1] Reference position [Logical axis name 2] Reference position [Logical axis name 3] Reference position ... ;

Item Unit Usable Data

Reference Reference unit  Directly designated value
position  Double integer type register (Indirect designation)

8-60
 8.2 Axis Move Commands

(3) Setting Items for MOV Command

Motion Image

Speed (V)

b) Rated speed

c) Acceleration/
Positioning deceleration type
speed
(VEL)
a) Moving
amount

Time (t)
Acceleration time Deceleration time
(ACC) (DCC)

a) Moving amount
The moving amount of each axis differs depending on the movement mode, ABS mode or INC mode.
• Moving amount in ABS mode
The difference between the program current position and the reference position.

• Moving amount in INC mode

The reference position is used as the moving amount.

INFO Refer to 7.2.2 Reference Unit for information on the moving amount unit.

b) Rated speed
Use motion fixed parameter 34 (Rated motor speed) to set the rated speed of each axis.
For details, refer to the relevant motion module manual.

c) Acceleration/deceleration type
The acceleration/deceleration for a MOV command can be selected from the following three types.
It can be selected according to the combination of the following settings:
Motion setting parameter OW03, bit 4 to 7: Acceleration/deceleration degree unit selection
Command Reference

Motion setting parameter OW03, bit 8 to B: Filter type selection

8-61
 8 Command Reference
8.2.1 Positioning (MOV)

(a) No acceleration/deceleration
Movement with both the acceleration time and deceleration time set to 0
Setting Method Movement Path
• OW03, bit 4 to 7: Acceleration/deceleration degree unit selection = 1
(ms)
• OW03, bit 8 to B: Filter type selection = 0 (No filter)
• Set the ACC command to 0.
• Set the DCC command to 0.

(b) Single-step linear acceleration/deceleration

Movement with a constant acceleration/deceleration speed
Setting Method Movement Path
• OW03, bit 4 to 7: Acceleration/deceleration degree unit selection = 1
(ms)
• OW03, bit 8 to B: Filter type selection = 0 (No filter)
• Set the ACC command to a value other than 0.
• Set the DCC command to a value other than 0.

(c) S-curve acceleration/deceleration

Movement at S-curved acceleration/deceleration speed
Setting Method Movement Path
• OW03, bit 4 to 7: Acceleration/deceleration degree unit selection = 1
(ms)
• OW03, bit 8 to B: Filter type selection = 2 (Moving average filter)
• Set the ACC command to a value other than 0.
• Set the DCC command to a value other than 0.
• Set the SCC command to a value other than 0.

For axis movement with a MOV command, an in-position check is executed to verify that the axis enters the positioning
INFO
completion range. After the in-position check, the next move command block will be executed.
The following diagram illustrates the in-position execution.
The feedback position is within
Distribution completed the positioning completion width.
Speed (V)
Positioning command block

The next command block

Motion monitor parameter

IW0C, Bit1 Positioning Completed Time (t)
In-position check
The value that is set in the motion setting parameter
OL1E: Width of positioning completion.

Fig. 8.26 Execution of In-position Check

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 8.2 Axis Move Commands

(4) Programming Examples

A programming example for a MOV command in ABS mode is shown below.
EXAMPLE

ABS;
ACC [A1]1000 [B1]1000 [C1]1000;
DCC [A1]1000 [B1]1000 [C1]1000;
VEL [A1]2000 [B1]2000 [C1]2000;
MOV [A1]4000 [B1]3000 [C1]2000;
END;

C1

2000

End
position

Program
current A1
position 4000

3000

B1

Fig. 8.27 MOV Command Programming Example

Command Reference

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 8 Command Reference
8.2.2 Linear Interpolation (MVS)

8.2.2 Linear Interpolation (MVS)

Motion Programs Sequence Programs
Applicable Not applicable

(1) Overview
The Linear Interpolation command (MVS) moves each axis on a straight line from the program current position
to the end position at the specified interpolation feed speed. Up to 16 axes can be moved simultaneously. Any
axis not specified in the command will not be moved.

Logical axis 3

End position
Interpolation
feed speed
(Composite
speed)

Logical axis 1
[Logical axis 3]
[Logical axis 1]

Logical axis 2 Program [Logical axis 2]

current position

Fig. 8.28 Movement Path with MVS Command

CAUTION
• Linear Interpolation (MVS) can be executed for either linear axes or rotary axes. If rotary axes are included,
however, the linear interpolation path will not be in straight line. When programming, be sure to check the
path to make sure that there are no tools or other obstacles in the way of the workpiece.
Failure to carry out this check may result in damage to equipment, serious personal injury, or even death.

For axis movement with the MVS command, an in-position check is not automatically executed. Use the PFN command to
INFO
execute an in-position check if required.

(2) Format

MVS [Logical axis name 1] Reference position [Logical axis name 2] Reference position [Logical axis name 3] Reference position ...

F Interpolation feed speed ;

Item Unit Usable Data

Reference position Reference unit  Directly designated value
Interpolation feed speed Reference units/min  Double integer type register (Indirect designation)

Note: The interpolation feed speed can be omitted.

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 8.2 Axis Move Commands

(3) Setting Items for MVS Command

Motion Image

Speed (V)

Max. feed speed

for interpolation
(FMX)
c) Acceleration/deceleration type
b) Interpolation feed
speed
(F designation or
IFP) a) Composite
moving
amount

Time (t)
Acceleration time Deceleration time
(IAC) (IDC)

a) Composite moving amount

The composite moving amount differs depending on the movement mode: ABS mode or INC mode.
• Composite moving amount in ABS mode
The difference between the program current position and the reference position

• Composite movement amount in ABS mode

The reference position is used as the moving amount.
INC command block: INC MVS[A1]1200 [B1]900;
Composite
moving = 1200 2 + 900 2 = 1500 (reference unit)
amount

B1

1500 reference units

900 reference units

1200 reference units

A1
Command Reference

INFO Refer to 7.2.2 Reference Unit for information on the moving amount unit.

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 8 Command Reference
8.2.2 Linear Interpolation (MVS)

b) Interpolation feed speed (F command or IFP)

Specify a numerical value or register following to character F in the MVS command block (F designation).
The specified interpolation feed speed is treated as a composite speed for all the specified axes.
The reference range is between 1 reference unit/min and the maximum feed speed for interpolation (FMX)
[reference units/min].
For the INC command block INC MVS[A1]1200 [B1]900 F500;
B1

Interpolation feed speed

500 reference units/min
900
reference units

A1
1200 reference units

The feed speed of each axis is calculated using the following formula.
INFO
The feed speed of each axis [reference units/min]
moving amount of each axis [reference units]
= × interpolation feed speed [reference units/min]
composite moving amount [reference units]
For example, the feed speed of each axis in above condition is calculated as following.
Interpolation feed speed (the value of F) = 500 [reference units/min]
Composite moving amount = 12002+9002 = 1500 [reference units]

1200
• The feed speed of A1 axis = × 500 = 400 [reference units/min]
1500
900
• The feed speed of B1 axis = × 500 = 300 [reference units/min]
1500

You can select whether or not to apply an interpolation override to the F designation.
Refer to 4.3.3 Work Registers for information on how to use an interpolation override.
• When not using an interpolation override
F designation = Interpolation feed speed

F designation Interpolation
feed speed
• When using an interpolation override
F designation ˜ Interpolation override = Interpolation feed speed
0 to 327.67%

F designation Interpolation Interpolation

override feed speed

The interpolation feed speed can also be specified as a percentage of the maximum feed speed for interpola-
tion (FMX).
Refer to 8.1.8 Interpolation Feed Speed Ratio Setting (IFP) for information how to specify an interpolation
feed speed as a percentage of the maximum feed speed for interpolation.

• If a value higher than the FMX reference value (reference units/min) is specified for an F designation (reference units/
INFO
min), a motion alarm will occur.
• If the interpolation override applied interpolation feed speed exceeds the FMX value, the output value of the interpola-
tion feed speed will be reset to the FMX reference value.
• When the interpolation feed speed is not specified in the command block, the interpolation feed speed specified in the
previous command block will be applied.

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 8.2 Axis Move Commands

The interpolation override can be changed during axis movement.

Speed (V)

150% of
interpolation
feed speed
100% of
interpolation
Interpolation feed feed speed
speed 50% of
(F designation or interpolation
IFP) feed speed
One block of an interpolation related command

Time (t)

Interpolation
override
150.00%
100.00%
50.00%

Time (t)

Fig. 8.29 Interpolation Override and Interpolation Related Command

c) Acceleration/deceleration type
The acceleration/deceleration for an MVS command can be selected from the following three types.
It can be selected according to the combination of settings of IAC, IDC, and SCC commands and motion
parameter OW03, bit 8 to B: Filter type selection.

(a) No acceleration/deceleration
Movement with both the acceleration time and deceleration time set to 0
Setting Method Movement Path

• OW03, bit 8 to B: Filter type selection = 0 (No filter)

• Set the IAC command to 0.
• Set the IDC command to 0.

(b) Single-step linear acceleration/deceleration

Movement with a constant acceleration/deceleration speed
Setting Method Movement Path
Command Reference

• OW03, bit 8 to B: Filter type selection = 0 (No filter)

• Set the IAC command to a value other than 0.
• Set the IDC command to a value other than 0.

(c) S-curve acceleration/deceleration

Movement at S-curved acceleration/deceleration speed
Setting Method Movement Path

• OW03, bit 8 to B: Filter type selection = 2 (Moving average filter)

• Set the IAC command to a value other than 0.
• Set the IDC command to a value other than 0.
• Set the SCC command to a value other than 0.

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 8 Command Reference
8.2.2 Linear Interpolation (MVS)

• Code a FMX command to specify the maximum feed speed for interpolation at the beginning of motion program.
INFO
Otherwise, a motion program alarm will occur at execution of the MVS command.
• If the acceleration/deceleration time is not specified, the default time of 0 ms is applied.
• For axis movement with the MVS command, an in-position check is not automatically executed. Use the PFN com-
mand to execute an in-position check if required.

(4) Programming Examples

A programming example of an MVS command in ABS mode is shown below.
EXAMPLE

FMX T30000000;
ABS;
IAC T1000;
IDC T1000;
MVS [A1]4000 [B1]3000 [C1]2000 F50000;
END;

C1

2000

End
position

Program
current A1
position 4000

3000

B1

Fig. 8.30 MVS Command Programming Example

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 8.2 Axis Move Commands

8.2.3 Clockwise/Counterclockwise Circular Interpolation with Center Position Desig-

nation (MCW, MCC)
Motion Programs Sequence Programs
Applicable Not applicable

(1) Overview
The Clockwise/Counterclockwise Circular Interpolation with Center Position Designation command (MCW,
MCC) moves two axes simultaneously from the program current position to the end position on the designated
plane at the interpolation feed speed on the circle determined by the center position.
• MCW: Circular Interpolation command for Clockwise (CW)
• MCC: Circular Interpolation command for Counterclockwise (CCW)

Logical axis 2

End position Program current position

MCW Center point

position
Number of turns

Interpolation feed speed

(Tangential speed)
Logical axis 1

• Before designating a Clockwise/Counterclockwise Circular Interpolation command, be sure to designate

IMPORTANT the circular interpolation plane in Coordinate Plane Setting (PLN).
If the PLN command is not coded, a motion program alarm will occur at execution of the MCW or MCC
command.
• Designate the axes for the end position and center position in the same order as the axes are specified in the
PLN command.
• Be sure to code the FMX command at the beginning of the program to specify the maximum feed speed for
interpolation.
Otherwise, a motion program alarm will occur at execution of the MCW or MCC command.
• When the acceleration/deceleration time is not specified, the default acceleration/deceleration time of 0 ms
will be applied.

Command Reference

For axis movement with the MCW or MCC command, an in-position check is not automatically executed. Use the PFN
INFO
command to execute an in-position check if required.

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 8 Command Reference
8.2.3 Clockwise/Counterclockwise Circular Interpolation with Center Position Designation (MCW, MCC)

(2) Format

MCW [Logical axis name 1] End position [Logical axis name 2] End position U Center position V Center position

T Number of turns F Interpolation feed speed ;

Item Unit Usable Data

End position Reference unit ࡮Directly designated value
Center point position Reference unit ࡮Double integer register (Indirect designation)
Number of turns Number of times of turn
Interpolation feed speed Reference units/min

Note: The number of turns and interpolation feed speed can be omitted.

(3) Setting Items for MCW and MCC Commands

Motion Image

Logical axis 2

a) End position

MCW a) Center
position
b) Number of turns

c) Interpolation feed speed

(Tangential speed)
Logical axis 1

a) End position and Center point position

End position: Specify a numerical value or register following to a logical axis name.
Center position: Specify a numerical value or register following to character U and V in the MCW or MCC command
block.
The actual end position and center position for the reference positions will differ, depending on the move-
ment mode: ABS mode or INC mode.

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 8.2 Axis Move Commands

• In ABS Mode
The center position and end position are treated as absolute positions.

FMX T30000000;
ABS;
PLN[A1][B1];
MCC [A1] [B1]4000 U2500 V1000 F50000;
1500ࠉ

Center position
End position

B1 End Counterclockwise
position
4000 circular interpolation
(MCC)

Program
2000 current position
Center
position
1000

A1
1500 2500 5500

• In INC Mode
The center position and end position are treated as relative positions from the program current position.

FMX T30000000;
INC;
PLN[A1][B1];

MCC [A1]-4000 [B1]2000 U-3000 V-1000 F50000;

End position Center position

(relative position) (relative position)

-4000
B1
Counterclockwise
circular interpolation
4000 (MCC)
End
Command Reference

position

2000

Program
current
position
2000

-1000
Center
position
1000
-3000
A1
1500 2500 5500

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 8 Command Reference
8.2.3 Clockwise/Counterclockwise Circular Interpolation with Center Position Designation (MCW, MCC)

Special care must be taken with regard to the start point radius, and end point radius, because the circular inter-
IMPORTANT polation path will become as shown below if the start point radius is not equal to the end point radius.
End position

s
diu
ra
Program

int
current position

po
St

d
En
a
ra rt po
di in
us t

Center
position

Fig. 8.31 Circular Interpolation Path When Start Point Radius ≠ End Point Radius

b) Number of turns
Specify a numerical value or register following to character T in the MCW or MCC command block.
Specifying the number of turns will implement multiple circular movements. Specifying a negative value for
the number of turns will cause a motion program alarm. The number of circular movements determined by
the specified number of turns will differ depending on the relationship between the program current position
and end position as shown below.
EXAMPLE
• When the number of turns is set to 2

When Program current position ≠ End position Program current position = End position

B1 B1

Program current position

End position and
End position

Program
current position

A1 A1
Two circles + 1/4 circle Three circles

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 8.2 Axis Move Commands

c) Interpolation feed speed

For circular interpolation (MCW, MCC), the specified interpolation feed speed is treated as the speed of a
tangential direction.
The reference range is between 1 and the maximum interpolation feed speed (FMX) [reference unit/min].

MCC command block: MCC[A1]- [B1]- F200;

2 2
F = 200 = Vx + Vy (reference units/min)

B1

End position
200 reference units/min

Vy (reference units/min)

Vx (reference units/min)

Program current position

A1

Command Reference

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 8 Command Reference
8.2.3 Clockwise/Counterclockwise Circular Interpolation with Center Position Designation (MCW, MCC)

(4) Programming Examples

EXAMPLE
A programming example of circular interpolation (MCW, MCC) in ABS mode is shown below.
The MCW commands turns axes clockwise, while MCC commands counterclockwise.
Turning
Programming Example
Direction
ABS;
FMX T30000000;
PLN [A1][B1];
MCW [A1]0 [B1]0 U1000 V0 F2000; “MCW (clockwise)”
END;

B1

Clockwise
(MCW) (0,0)
End position A1
Center position
(1000,0)

Program current position

Clockwise circular
interpolation (MCW)

Fig. 8.32 Center Position Designated Clockwise

Circular Interpolation (MCW)

ABS;
FMX T30000000;
PLN [A1][B1];
MCC [A1]0 [B1]0 U1000 V0 F2000; “MCC (Counterclockwise)”
END;

B1

Counterclockwise
circular interpolation
(MCC)
Counter-
clockwise
(MCC) (0,0)
End position A1
Center
position
(1000,0)

Program current position

Fig. 8.33 Center Position Designated Counterclockwise

Circular Interpolation (MCC)

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 8.2 Axis Move Commands

8.2.4 Clockwise/Counterclockwise Circular Interpolation with Radius Designation

(MCW, MCC)
Motion Programs Sequence Programs
Applicable Not applicable

(1) Overview
The Clockwise/Counterclockwise Circular Interpolation with Radius Designation command (MCW, MCC)
moves two axes simultaneously from the program current position to the end position on the designated plane at
the interpolation speed on the circle determined by the radius.
• MCW: Circular Interpolation command for Clockwise (CW)
• MCC: Circular Interpolation command for Counterclockwise (CCW)

Logical axis 2
Radius

End position

MCW

Interpolation feed speed

(Tangential speed)
Logical axis 1

• Before designating a Clockwise/Counterclockwise Circular Interpolation command, be sure to designate

IMPORTANT the circular interpolation plane in Coordinate Plane Setting (PLN).
If the PLN command is not coded, a motion program alarm will occur at execution of the MCW or MCC
command.
• Designate the axes for the end position and center point position in the same order as the axes are specified
in the PLN command.
• Be sure to code the FMX command at the beginning of the program to specify the maximum feed speed for
interpolation.
Otherwise, a motion program alarm will occur at execution of the MCW or MCC command.
• When the acceleration/deceleration time is not specified, the default acceleration/deceleration time of 0 ms
will be applied.

Command Reference

For axis movement with the MCW or MCC command, an in-position check is not automatically executed. Use the PFN
INFO
command to execute an in-position check if required.

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 8 Command Reference
8.2.4 Clockwise/Counterclockwise Circular Interpolation with Radius Designation (MCW, MCC)

(2) Format

MCW [Logical axis name 1] End position [Logical axis name 2] End position R Radius F Interpolation speed ;

Item Unit Usable Data

End position Reference unit  Directly designated value
Radius Reference unit  Double integer type register (Indirect designation)
Interpolation feed speed Reference units/min

Notes: 1. The interpolation feed speed can be omitted.

2. With radius designating circular interpolation, the number of turns cannot be specified.

(3) Setting Items for MCW and MCC Commands

Motion Image

Logical axis 2

End position

a) Radius

MCW

Logical axis 1

a) Radius
Specify a numerical value or register following to character R in the MCW or MCC command block.
The circular interpolation path will differ depending on the radius reference value as follows.

With the MCW command block MCW [A1] − [B1] − R −;

If R > 0: Circular interpolation with an arc angle of 180° or less
If R < 0: Circular interpolation with an arc angle of more than 180°
If R = 0: A motion program alarm will occur.

More than 180° End position

R R 180° max.

Center point
Center when R is a
point when positive value
R is a negative
value

Program current position

INFO With the radius designating circular interpolation, the number of turns cannot be specified.

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 8.2 Axis Move Commands

(4) Programming Examples

EXAMPLE
Programming examples of the circular interpolation command (MCW, MCC) in ABS mode are shown below.
The turning direction is specified by MCW (clockwise) and MCC (counterclockwise), and the arc angle is speci-
fied by the radius reference value.

Turning
Arc Angle Programming Example
Direction
ABS;
FMX T30000000;
PLN [A1][B1];
MCW [A1]1000 [B1]1000 R1000 F2000; “MCW (Clockwise)”
END;

B1

180° or less Clockwise circular interpolation (MCW)

(Radius reference
End position
value > 0) (1000,1000)

Arc angle
180° or less
A1
Program current Center point
position (0,0) Radius = 1000 (1000,0)

Fig. 8.34 Radius Designating Clockwise Circular

Interpolation Command (MCW)

Clockwise ABS;
(MCW) FMX T30000000;
PLN [A1][B1];
MCW [A1]1000 [B1]1000 R-1000 F2000; “MCW (Clockwise)”
END;

B1

Clockwise circular interpolation (MCW)

Command Reference

180° or more Center point

Arc angle
(Radius reference 180qor more (0,1000)
value < 0) End position
(1000,1000)

Radius = 1000

A1
Program current position
(0,0)

Fig. 8.35 Radius Designating Clockwise Circular

Interpolation Command (MCW)

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 8 Command Reference
8.2.4 Clockwise/Counterclockwise Circular Interpolation with Radius Designation (MCW, MCC)

Turning
Arc Angle Programming Example
Direction
ABS;
FMX T30000000;
PLN [A1][B1];
MCC [A1]1000 [B1]1000 R1000 F2000; “MCC (Counterclockwise)”
END;

B1

Center point
(0,1000)
180° or less End position
(Radius reference (1000,1000)
Arc angle
value > 0) 180°or less
Radius = 1000
Counterclockwise
circular interpolation
(MCC)
A1
Program
current
position
(0,0)

Fig. 8.36 Radius Designating Counterclockwise Circular Interpolation

Command (MCC)
Counter-
ABS;
clockwise
FMX T30000000;
(MCC)
PLN [A1][B1];
MCC [A1]1000 [B1]1000 R-1000 F2000; “MCC (Counterclockwise)”
END;

B1

End position
(1000,1000)

Counterclockwise
180° or more circular interpolation
(Radius reference (MCC)
Center point
value < 0) (1000,0)
Program A1
current Radius = 1000 Arc angle
position
(0,0) 180° or more

Fig. 8.37 Radius Designating Counterclockwise Circular Interpolation

Command (MCC)

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 8.2 Axis Move Commands

8.2.5 Clockwise/Counterclockwise Helical Interpolation with Center Position Desig-

nation (MCW, MCC)
Motion Programs Sequence Programs
Applicable Not applicable

(1) Overview
The Clockwise/Counterclockwise Helical Interpolation with Center Position Designation command (MCW,
MCC) simultaneously executes a linear interpolation movement while moving on the circle (circular interpola-
tion) determined by the designated center point position.
The helical interpolation feed speed is calculated by using the tangential speed for circular interpolation and com-
posite speed for linear interpolation.
• MCW: Helical Interpolation command for Clockwise (CW)
• MCC: Helical Interpolation command for Counterclockwise (CCW)

CAUTION
• The linear interpolation axis specified for a Clockwise/Counterclockwise Helical Interpolation (MCW, MCC)
command can be either a linear axis or a rotary axis. Depending on the axis movement in the linear interpo-
lation portion, the helical interpolation path may not be a helical shape. When programming, be sure to
check the path to make sure that there are no tools or other obstacles in the way of the workpiece.
Failure to carry out this check may result in damage to equipment, serious personal injury, or even death.

• Be sure to specify the plane for circular interpolation by using the Coordinate Plane Setting command
IMPORTANT (PLN) before executing the Helical Interpolation command (MCW or MCC).
Use logical axis 1 and logical axis 2 to specify the end positions and center points of circle of the horizontal
and vertical axes of the designated plane.
• Specify the axes for the end position and center position in the same order as the axes are specified in the
PLN command.
• Any axis that has not been specified in the plane designation can be specified as a linear interpolation axis.
The axis does not need to be at right angles to the interpolation plane.

For an axis movement initiated by execution of the helical interpolation command MCW or MCC, an in-position check to
INFO
check whether the axis enters the positioning completion range will not be executed.
Use the PFN command to execute an in-position check if required. Command Reference

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 8 Command Reference
8.2.5 Clockwise/Counterclockwise Helical Interpolation with Center Position Designation (MCW, MCC)

(2) Format

MCW [Logical axis name 1] End position [Logical axis name 2] End position U Center point position V Center point position

[Logical axis name 3] End position for linear interpolation T Number of turns F Interpolation feed speed ;

Item Unit Usable Data

End position Reference unit  Directly designated value
Center point position Reference unit  Double integer type register (Indirect designation)
Number of turns Number of times of turn
Interpolation feed speed Reference unit/min

Note: The number of turns and interpolation feed speed can be omitted.

(3) Setting Items for MCW and MCC Commands

Motion Image

Logical axis 3

End position
(Same as for circular interpolation)

Logical axis 1 Linear interpolation

portion
Center position
(Same as for circular
interpolation) a) Interpolation
feed speed
Logical axis 2 (Tangential speed)

Program
current position
Circular interpolation portion

a) Interpolation feed speed

For the helical interpolation commands (MCW and MCC), the interpolation feed speed is calculated with the
tangential speed for circular interpolation and the composite speed for the linear interpolation axis.
MCC command block: MCC [X]- [Y]- U- V- [Z]- F300;
2 2 2
F = 300 = Vx + Vy + Vz (reference units/min)

Interpolation feed speed

X (Composite speed of three axes)

Y Vz (reference units/min)

Vy (reference units/min)

Vx (reference units//min)

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 8.2 Axis Move Commands

(4) Programming Examples

EXAMPLE
A programming example of a clockwise helical interpolation command (MCC) in ABS mode is shown below.

ABS;
FMX T30000000;
PLN [A1][B1];
MCC [A1]1000 [B1]0 U0 V0 [C1]500 F2000;
END;

C1

500 End position

Linear interpolation
portion

Circle center point

(0,0,0) 1000
A1
Program F
current
position Circular interpolation
end position
B1

Fig. 8.38 Center Point Position Designating Clockwise Helical Interpolation

Command (MCC) Programming Example

Command Reference

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 8 Command Reference
8.2.6 Clockwise/Counterclockwise Helical Interpolation with Radius Designation (MCW, MCC)

8.2.6 Clockwise/Counterclockwise Helical Interpolation with Radius Designation

(MCW, MCC)
Motion Programs Sequence Programs
Applicable Not applicable

(1) Overview
The Clockwise/Counterclockwise Helical Interpolation with Radius Designation command (MCW, MCC) simul-
taneously executes a linear interpolation movement while moving on the circle (circular interpolation) deter-
mined by the designated radius.
The helical interpolation feed speed is calculated by using the tangential speed for circular interpolation and the
composite speed for linear interpolation.
• MCW: Helical Interpolation command for Clockwise (CW)
• MCC: Helical Interpolation command for Counterclockwise (CCW)

CAUTION
• The linear interpolation axis specified for a Clockwise/Counterclockwise Helical Interpolation (MCW, MCC)
command can be either a linear axis or a rotary axis. Depending on the axis movement in the linear interpo-
lation portion, the helical interpolation path may not be a helical shape. When programming, be sure to
check the path to make sure that there are no tools or other obstacles in the way of the workpiece.
Failure to carry out this check may result in damage to equipment, serious personal injury, or even death.

• Be sure to specify the plane for circular interpolation by using the Coordinate Plane Setting command
IMPORTANT (PLN) before executing the Helical Interpolation command (MCW or MCC).
Use logical axis 1 and logical axis 2 to specify the end positions and center points of circle of the horizontal
and vertical axes of the designated plane.
• Specify the axes for the end position and center position in the same order as the axes are specified in the
PLN command.
• Any axis that has not been specified in the plane designation can be specified as a linear interpolation axis.
The axis does not need to be at right angles to the interpolation plane.

For an axis movement initiated by execution of the helical interpolation command MCW or MCC, an in-position check to
INFO
check whether the axis enters the positioning completion range will not be executed.
Use the PFN command to execute an in-position check if required.

(2) Format

MCW [Logical axis name 1] End position [Logical axis name 2] End position R Radius

[Logical axis name 3] End position for linear interpolation F Interpolation feed speed ;

Item Unit Usable Data

End position Reference unit  Directly designated value
Center point position Reference unit  Double integer type register (Indirect designation)
Radius Reference unit
Interpolation feed speed Reference units/min

Notes: 1. The interpolation feed speed can be omitted.

2. With the radius designating helical interpolation command, the number of turns cannot be designated.

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 8.2 Axis Move Commands

(3) Setting Items for MCW and MCC Commands

Motion Image

Logical axis 3

End position
(Same as for circular interpolation)

Logical axis 1 Linear interpolation

portion
Radius
(Same as for circular interpolation) Interpolation feed speed
(Same as for center point
Logical axis 2 designating helical
interpolation)

Program
current position
Circular interpolation portion

The designation methods of the radius and end position for the radius designating helical interpolation command are the
INFO
same as for the radius designating circular interpolation command.
Additionally, the designation method of the interpolation feed speed is the same as for the center position designating heli-
cal interpolation command.

(4) Programming Examples

EXAMPLE
A programming example of a radius designating counterclockwise helical interpolation command (MCC) is
shown below.

ABS;
FMX T30000000;
PLN [A1][B1];
MCC [A1]1000 [B1]0 R1000 [C1]500 F2000;
END;

C1

500 End position

Command Reference

Linear interpolation
portion
Radius 1000
1000
A1
F
Circular interpolation
end position
B1 Program
current position Circular interpolation portion

Fig. 8.39 Radius Designating Counterclockwise Helical

Interpolation Command (MCC)

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 8 Command Reference
8.2.7 Zero Point Return (ZRN)

8.2.7 Zero Point Return (ZRN)

Motion Programs Sequence Programs
Available Not Available

(1) Overview
The Zero Point Return (ZRN) command executes the zero point return operation. Up to 16 axes can be desig-
nated simultaneously. An axis unspecified in the command block will not move. The resulting stop position is set
as the machine coordinate origin.

Logical axis 3

Program
current position

Machine coordinate Logical axis 1

system origin

Logical axis 2

Fig. 8.40 Movement Path with ZRN Command

When the ZRN command is executed, the returned position is set as the machine coordinate origin. At the same
time, the work coordinate system previously set by Current Position Set (POS) is cancelled.
After the ZRN command has been executed, the machine coordinate system will be the same as the work coordi-
nate system. Until the next time that Current Position Set (POS) is executed, Move ON Machine Coordinates
(MVM) will be ineffective, even if it is designated.
Refer to 8.3.1 Current Position Set (POS) for details of the machine coordinate system and work coordinate sys-
tem.

Request for temporary stop of program is disabled during ZRN command execution. To stop the operation on
IMPORTANT the way, execute request for stop of program.
Refer to 4.3.3 Work Registers for information on Program Pause Request and Program Stop Request signals.

(2) Format

ZRN [Logical axis name 1] 0 [Logical axis name 2] 0 [Logical axis name 3] 0 ... ;

Note: Always code “0” after each logical axis name.

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 8.2 Axis Move Commands

(3) Setting Items for ZRN Command

(a) Zero Point Return Methods
Use motion setting parameter OW3C (Zero point return method) to set the zero point return method for
each axis.
The table below lists the available zero point return methods.
Refer to the relevant motion module manual for details on each method.
Setting SVB-01/
Zero Point Return Method SVA-01 PO-01
(OW3C) Built-in SVB
DEC1 + Phase-C pulse 0 Available Available N/A
ZERO signal 1 Available Available N/A
DEC1 + ZERO signal 2 Available Available Available
Phase-C pulse 3 Available Available N/A
DEC2 + ZERO signal 4 Available N/A Available
DEC1 + LMT + ZERO signal 5 Available N/A Available
DEC2 + Phase-C signal 6 Available N/A N/A
DEC1 + LMT + Phase-C signal 7 Available N/A N/A
C pulse only 11 Available Available N/A
P-OT & Phase-C pulse 12 Available Available N/A
P-OT 13 Available Available N/A
HOME LS & Phase-C pulse 14 Available Available N/A
HOME LS 15 Available Available N/A
N-OT & Phase-C pulse 16 Available Available N/A
N-OT 17 Available Available N/A
INPUT & Phase-C pulse 18 Available Available N/A
INPUT 19 Available Available N/A

(b) Zero Point Return Speed

The zero point return speed depends on the applied zero point return method.
For details, refer to the relevant motion module manual.

(4) Programming Examples

EXAMPLE
A programming example of a ZRN command in ABS mode is shown below.

ZRN [A1]0 [B1]0;

END;
Command Reference

B1

Program
current position

Zero point return operation

A1

The stop position is set to the machine coordinate origin (0, 0).

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 8 Command Reference
8.2.8 Linear Interpolation with Skip Function (SKP)

8.2.8 Linear Interpolation with Skip Function (SKP)

Motion Programs Sequence Programs
Applicable Not applicable

(1) Overview
The Linear Interpolation with Skip Function command (SKP) is an extended command of the Linear Interpola-
tion command (MVS). When the skip input signal is turned ON during axis movement by a SKP command, the
moving axis is decelerated to a stop and the remaining travel distance is cancelled.
A use of a SKP command enables the programming of motion control that can respond to external conditions.
The skip signal is input to the control signal for the MSEE command or the control register of M-EXECUTOR.

Speed (V)

Cancelled moving amount

Linear interpolation
Reference position for
SKP command

Time (t)

Skip input signal

(Control signal bit 8 or 9)

Skip Input Signal Selection Skip Input Signal The position where the axis is stopped by
skip input signal (ON)
Skip input signal 1 (SS1) Bit 8 of control signal
Skip input signal 2 (SS2) Bit 9 of control signal

Fig. 8.41 Axis Movement by SKP Command

The moving axis decelerates to a stop when the skip input signal is turned ON. The SKP command, however,
IMPORTANT remains in effect until the positioning completion signal is turned ON.

(2) Format

SKP [Logical axis name 1] Reference position [Logical axis name 2] Reference position [Logical axis name 3] Reference position ...

F Interpolation feed speed SS Skip input signal selection ;

Item Unit Usable Data

Reference position Reference unit  Directly designated value
Interpolation feed speed Reference unit/min  Double integer type register (Indirect designation)
 Directly designated number 1 or 2
Skip input signal selection -
 Double integer type register (Indirect designation)

Note: The interpolation feed speed can be omitted.

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 8.2 Axis Move Commands

(3) Programming Examples

EXAMPLE
A programming example of a SKP command in ABS mode is shown below.

FMX T30000000;
ABS;
IAC T1000;
IDC T1000;
SKP [A1]4000 [B1]3000 [C1]2000 F50000 SS1;
END;

C1 Position where the axis stopped after

deceleration by skip input signal

2000

Target position

Program
current position A1
4000

3000

B1

Fig. 8.42 SKP Command Programming Example

Command Reference

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 8 Command Reference
8.2.9 Set Time Positioning (MVT)

8.2.9 Set Time Positioning (MVT)

Motion Programs Sequence Programs
Applicable Not applicable

(1) Overview
The Set Time Positioning command (MVT) is an extended Positioning command (MOV).
The MVT command can simultaneously move up to 16 axes. An axis unspecified in the MVT command block
will not move.
With the MVT command, the feed speed of each axis is adjusted to complete positioning in the specified time.
The MVT command does not use an interpolation operation, and there is no restriction on completing the posi-
tioning for all the specified axes simultaneously.
There is a time lag caused by the acceleration/deceleration setting.

Speed (V)

Feed speed

Clamped feed speed

Time

Positioning time

Fig. 8.43 Axis Movement with MVT Command

If an override is used, positioning will not complete in the specified time.

If a filter is used, the positioning time will be delayed by the filter time constant.

Filter time constant

Fig. 8.44 Positioning Time Delay When a Filter is used

• If the positioning time is set to 0, an alarm will occur in the motion program.
IMPORTANT • If the moving amount of any of the specified axes is set to 0, an alarm will occur in the motion program.

(2) Format

MVT [Logical axis name 1] Reference position [Logical axis name 2] Reference position [Logical axis name 3] Reference position ...

T Positioning time ;

Item Unit Usable Data

Position reference Reference unit  Directly designated value
Positioning time ms  Double integer type register (Indirect designation)

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 8.2 Axis Move Commands

The positioning time reference range is between 1 and 2147483647 (ms).

Inside the MP2000 Machine Controller, the feed speed during MVT command execution is calculated according
to the specified positioning time and moving amount.
This calculation does not include acceleration (acceleration = 0) as shown below.
Speed (V)

Calculated Moving amount L

feed speed V (Travel distance)

Time (t)

Positioning time T

The actual operation when the acceleration time T1 is less than the deceleration time T2 will be as shown below.
Speed (V)

Calculated Moving amount L

feed speed V (Travel distance)

Time (t)

Positioning time T

Acceleration time T1 Deceleration time T2

The feed speed set by VEL command will be changed accordingly. After executing the MVT command, reset the
feed speed by using VEL command.

An in-position check is executed for axis movement by MVT command execution, as well as for MOV command execu-
INFO
tion, to verify that the axis enters the positioning completed range.

(3) Programming Examples

EXAMPLE
A programming example of an MVT command in ABS mode is shown below.
Command Reference

ABS;
ACC [A1]1000;
DCC [A1]1000;
MVT [A1]4000 T1000;
END;

Positioning in
one second

Program 4000
current
position A1
End position

Fig. 8.45 MVT Command Programming Example

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 8 Command Reference
8.2.10 External Positioning (EXM)

8.2.10 External Positioning (EXM)

Motion Programs Sequence Programs
Applicable Not applicable

(1) Overview
The External Positioning command (EXM) is an extended Positioning command (MOV).
The EXM command executes positioning by using an incremental value to move the axis the specified moving
amount when the external positioning signal is turned ON. If the external positioning signal is not turned ON, the
axis completes positioning at the reference position specified in the EXM command block.
Only one axis can be specified in an EXM command block.

Speed (V) Moving amount from when

the external positioning
signal is input

Time (t)

External positioning signal

Fig. 8.46 Movement by EXM Command

When a negative value is specified for the moving amount, the axis decelerates to a stop and then moves in the
negative direction.

IMPORTANT • For the external positioning signal, refer to the relevant motion module manual.
• The External Positioning command (EXM) cannot be used with a PO-01 module.
If used, an alarm will occur in the motion program.
• Special care must be taken to use the external latch input signal, because it is also used for the zero point
return operation.

(2) Format

EXM [Logical axis name 1] Reference position D Moving amount from when the external positioning signal is input ;

Item Unit Usable Data

Reference position  Directly designated value

Reference unit
 Double integer type register (Indirect designation)
Moving amount from when the
external positioning signal is input Reference unit

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 8.2 Axis Move Commands

(3) Setting Items for EXM Command

Motion Image

Speed (V)
a) Moving amount from when
the external positioning signal is input

Rated speed
Acceleration/deceleration type
(Same as for MOV command)
Positioning speed
(VEL)

Moving amount
(Same as for MOV command)

Time (t)
Acceleration time Deceleration time
(ACC) (DCC)

b) External positioning signal

a) Moving amount from when the external positioning signal is input

Set the moving amount using an incremental value after the external positioning signal is turned ON.
The reference range is between -2147483648 to +2147483647 (reference unit).

b) External positioning signal

Use bits 4 to 7 (External positioning signal setting) of motion setting parameter OW04 (Function setting
2) to select the external positioning signal.
For details, refer to the relevant motion module manual.

INFO The PO-01 module does not have the external positioning function.

(4) Programming Examples

EXAMPLE
A programming example of EXM command in ABS mode is shown below. Command Reference

ABS;
ACC [A1]1000;
DCC [A1]1000;
VEL [A1]2000;
DL00000 = 1000;
EXM [A1]4000 DDL00000;
END;

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 8 Command Reference
8.3.1 Current Position Set (POS)

8.3 Axis Control Commands

This section describes the axis control commands.

8.3.1 Current Position Set (POS)

Motion Programs Sequence Programs
Applicable Not applicable

CAUTION
• Care is required with the Current Position Set (POS) command.
The Current Position Set (POS) command is used to create new work coordinate system values. If POS is specified
incorrectly, subsequent move operations will be entirely different. Before starting operations, be sure to check that the
work coordinate system is specified correctly.
Failure to carry out this check may result in damage to equipment, serious personal injury, or even death.

(1) Overview
The Current Position Set command (POS) changes the current position to a desired coordinate value to create a
new coordinate system. In this manual, the newly set coordinate system is referred to as the “work coordinate
system” while the original coordinate system of machine is referred to as the “machine coordinate system.”
Move commands coded after a POS command will be executed to move axes in the work coordinate system.
Coordinate System Description Remarks
Machine Coordi- The position for zero point return is the ori-
Original coordinate system of machine
nate System gin (0).
Work Coordinate Coordinate system constructed by the user A new coordinate system constructed by
System defined position POS command execution

Logical axis 2
Logical axis 2
(Logical axis 1)
Current position

Origin set by POS command

execution
(Origin of work coordinate system) (Logical axis 2)

Logical axis 1
Zero point return position (0,0) Work coordinate system
(Origin of machine
coordinate system)
Logical axis 1
(0,0) Machine coordinate system

Fig. 8.47 Work Coordinate System Setting by POS Command

The work coordinate system can be changed as often as desired by using the POS command. The machine coor-
dinate system must be set in advance. The machine coordinate system is not affected by the POS command.
Up to 16 axes can be designated in a POS command block. The work coordinate system for an axis not designated
in the POS command block will not be constructed or updated.
Move commands in a work coordinate system cannot exceed the maximum programmable value when converted
to coordinates in the machine coordinate system.

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 8.3 Axis Control Commands

The following table shows the setting status of the machine coordinate system and the work coordinate system.
Table 8.1 Coordinate System Setting Timing

Motion Fixed Parameter 30: Encoder Selection

Coordinate System Setting
Timing 0 or 2: Incremental Encoder/Absolute
1: Absolute Encoder
Encoder (Incremental Encoder is Used)
Machine coordinate system: Default setting *1 Machine coordinate system: Yes *2
After power ON
Work coordinate system: Cancelled *3 Work coordinate system: Cancelled
After Zero Point Return Machine coordinate system: Set
Work coordinate system: Cancelled
command (ZRN) Work coordinate system: Cancelled
After POS command Work coordinate system: Set Work coordinate system: Set
After Zero Point Set (ZSET)
Machine coordinate system: Set Machine coordinate system: Set
command

* 1. Default setting: The current position is set as the machine coordinate origin when the power is turned
ON. If the Zero Point Return operation is then not executed, the software limit switch function will not
be effective.
* 2. Yes: The machine coordinate origin is set using the position information in the absolute position detec-
tion encoder.
* 3. Cancelled: The previously set work coordinate system is cancelled, and the work coordinate system is
the same as the machine coordinate system.

• For infinite-length axes, set a value within the range of 0 to POSMAX.

IMPORTANT If a value outside the setting range is set for any infinite-length axis, an alarm will occur in the motion pro-
gram.
• When the zero point return operation is executed without using a ZRN command, such as zero point return
operation executed from the ladder program, the work coordinate system will not be cancelled.

(2) Format

POS [Logical axis name 1] Coordinate axis [Logical axis name 2] Coordinate axis ... ;

Item Unit Usable Data

 Directly designated value
Coordinate axis Reference unit  Double integer type register
(Indirect designation)

(3) Programming Examples

EXAMPLE
Command Reference

A POS command programming example is shown below.

ABS; " Absolute mode

MOV [A1]1000 [B1]2000; " Positioning

POS [A1]0 [B1]0; " Set work coordinate system

MOV [A1]3000 [B1]4000; " Positioning

DL00000 = IL8010; " Get Machine Coordinate System Calculated Position (CPOS) of Axis A1
DL00002 = IL8090; " Get Machine Coordinate System Calculated Position (CPOS of Axis B1
POS [A1]DL00000 [B1]DL00002; " Cancel work coordinate system

END;

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 8 Command Reference
8.3.2 Move On Machine Coordinates (MVM)

8.3.2 Move On Machine Coordinates (MVM)

Motion Programs Sequence Programs
Applicable Not applicable

CAUTION
• The Move ON Machine Coordinates (MVM) command is used to position the coordinate positions in a
machine coordinate system. If the machine coordinate origin is designated without being verified, unex-
pected move operations will result. Before starting operations, be sure to check that the position designated
in the machine coordinate system is correct.
Failure to carry out this check may result in damage to equipment, serious personal injury, or even death.

(1) Overview
The Move ON Machine Coordinates (MVM) command is used to move axes in a machine coordinate system
after a work coordinate system that is different from the machine coordinate system has been set by Current Posi-
tion Set (POS).
Specifying an MVM command for an axis move command temporarily moves the axis to the absolute coordinate
position in the machine coordinate system. During execution of an MVM command, the axis moves in ABS
mode regardless of the movement mode setting.
The MVM command is valid only in the MVM command coded block. For example, the axis moves in the work
coordinate system in the linear interpolation (MVS) in the next block or following blocks.

(2) Format

MVM MOV ...... ;

or
MVM MVS ...... ;

(3) Programming Examples

EXAMPLE
An MVM command programming example is shown below.

MVM MVS [A1]50 [B1]150 F1000; MVS [A1]50 [B1]50 F1000;

When MVM command is coded When MVM command
is not coded
B1
B1
250

150

A1
100 Program current position
(0,0) Work coordinate system

A1
(0,0) 50 100 150 Machine coordinate system

Fig. 8.48 Move On Machine Coordinates Command (MVM) Programming Example

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 8.3 Axis Control Commands

8.3.3 Program Current Position Update (PLD)

Motion Programs Sequence Programs
Applicable Not applicable

(1) Overview
The Program Current Position Update command (PLD) updates a program current position that has been shifted
by a manual intervention, etc.
If an axis movement is executed outside a motion program while the motion program is running (such as when an
axis is moved by JOG, STEP, or a user function), the program current position will not be updated. If the motion
program is executed in this status, the axis will move to the position shifted for the moving amount by manual
intervention. To solve this problem, a PLD command is used to update the program current position.

(2) Format

PLD [Logical axis name 1] [Logical axis name 2] [Logical axis name 3] ... ;

(3) Programming Examples

PLD programming examples are shown below.
(a) Manual intervention while the motion program is running
EXAMPLE

MOV [A1]1000;
" Axis [A1] is moved by JOG during this command block is being executed.
PLD [A1]; " Updates the program current position.
MOV [A1]2000;

(b) Axis is moved within the motion program user function

EXAMPLE

MOV [A1]1000;
UFC FNC10 MB000000 IW0100 MB000020; " Axis [A1] is moved by a user function
PLD [A1]; " Updates the program current position.
MOV [A1]2000;
Command Reference

INFO The PLD command can be executed by the user in some applications. The PLD command cannot be used in some of the
applications where manual intervention is required while the motion program is running.

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 8 Command Reference
8.3.4 In-Position Check (PFN)

8.3.4 In-Position Check (PFN)

Motion Programs Sequence Programs
Applicable Not applicable

(1) Overview
The In-Position Check command (PFN) verifies whether the axis being moved by an interpolation related com-
mand enters the NEAR position range (NEAR signal output width).
For an axis that is being moved by interpolation related command MVS, MCW, MCC, or SKP, an in-position
check is normally not executed. Use a PFN command to verify that the axis enters the NEAR position range.

NEAR position signal ON

Distribution completed
Speed V
Interpolation related command block

To the next command block

Motion monitoring parameter

IW0C, bit 3: NEAR position Time (t)

In-position check
executed by PFN command

Fig. 8.49 In-position Check Executed by PFN Command

Bit 3 (NEAR position) of motion monitoring parameter IW0C turns ON when the following condition is sat-
isfied.
Use INP command to set the NEAR signal output width.

 MPOS – APOS  ≤ NEAR signal output width

MPOS : Motion monitoring parameter IL12 (Machine coordinate system reference position)
APOS : Motion monitoring parameter IL16 (Machine coordinate system feedback position)

INFO If the NEAR signal output width is set to 0, bit 3 of motion monitoring parameter IW0C turns ON when the distribu-
tion of the reference value, including the filter, is completed.

(2) Format

• When coding a PFN command in the interpolation related command block

MVS [Logical axis name 1] - [Logical axis name 2] - [Logical axis name 3] ... PFN;

• When coding a PFN command independently

PFN [Logical axis name 1] [Logical axis name 2] [Logical axis name 3]...;

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 8.3 Axis Control Commands

(3) Programming Examples

PFN command programming examples are shown below.
(a) When coding a PFN command in the interpolation related command block
EXAMPLE

MVS [A1]1000 F20000 PFN;

MOV [A1]3000;
END;

(b) When coding a PFN command independently

EXAMPLE

MVS [A1]1000 F20000;

PFN [A1];
MOV [A1]3000;
END;

Speed (V)

Movement by MOV command execution

Movement by MVS command execution

Time (t)

NEAR signal output width

set by INP command

Fig. 8.50 PFN Command Programming Example

Command Reference

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 8 Command Reference
8.3.5 Set In-Position Range (INP)

8.3.5 Set In-Position Range (INP)

Motion Programs Sequence Programs
Applicable Not applicable

(1) Overview
The Set In-Position Range command (INP) is used to set the NEAR signal output width (in-position check
width). Up to 16 axes can be designated in an INP command block. Motion setting parameter OL20 (NEAR
signal output width) for each designated axis is updated.
The reference range is between 1 and 65535 (reference unit).

Speed (V)
Motion monitoring parameter
In-position check starts.
IL16: Machine coordinate system
feedback position (APOS)

To the next block

Interpolation reference
pulses

Time (t)

Motion monitoring parameter

IW0C, bit 3: NEAR position
In-position check width
specified by INP command

Fig. 8.51 INP Command

INFO The SVR module does not have motion setting parameter OL20 (NEAR signal output width).
With the SVR module, the NEAR signal output width is treated as 0 (zero).

(2) Format

INP [Logical axis name 1] NEAR signal output width [Logical axis name 2] NEAR signal output width ... ;

Item Unit Usable Data

 Directly designated value
NEAR signal output width Reference unit
 Double integer type register (Indirect designation)

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 8.3 Axis Control Commands

(3) Programming Examples

EXAMPLE
An INP command programming example is shown below.

B1
1000
200
ABS;
MOV [A1]0 [B1]0; “ Positioning to the zero point
INP [A1]100 [B1]200; “ Sets the in-position check width
MVS [A1]1000 PFN;
MVS [B1]1000 PFN;
A1
MVS [A1]-1000 ; -1000 (0, 0) 1000
END;
100

Fig. 8.52 INP Command Programming Example

Command Reference

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 8 Command Reference
8.3.6 Coordinate Plane Setting (PLN)

8.3.6 Coordinate Plane Setting (PLN)

Motion Programs Sequence Programs
Applicable Not applicable

(1) Overview
The Coordinate Plane Setting command (PLN) defines two logical axes set in the parameters to designate a coor-
dinate plane. Always execute a PLN command before executing a Circular Interpolation command (MCW,
MCC) and Helical Interpolation command (MCW, MCC).
The designated coordinate plane remains in effect until it is reset by another PLN command or until the END
command.

(2) Format

Horizontal axis name Vertical axis name

PLN [Logical axis name 1] [Logical axis name 2] ;

Designate two axes of a coordinate plane.

(3) Programming Examples

EXAMPLE
A PLN command programming example is shown below.

PLN[A1][B1]; " Designates the plane composed of axes A1 and B1

MCW [A1]50 [B1]50 R50 F1000;

B1

End position
50

Program
current position A1
(0,0) 50

Fig. 8.53 PLN Command Programming Example

INFO Designate an end position and a center position for circular interpolation and helical interpolation in the same order used to
specify the axes in the PLN command block.

Logical axis Logical axis

PLN [ name 1 ][ name 2 ] ;

MCC [A1]1500 [B1]4000 U2500 V1000 F150;

8-100
 8.4 Program Control Commands

8.4 Program Control Commands

This section describes program control commands including branching commands and repeat commands.

8.4.1 Branching Commands (IF ELSE IEND)

Motion Programs Sequence Programs
Applicable Applicable

(1) Overview
The branching commands IF ELSE IEND execute the block between IF and ELSE when a conditional expres-
sion is satisfied. If the conditional expression is not satisfied, the block between ELSE and IEND is executed.
ELSE can be omitted. If it is omitted and the conditional expression is not satisfied, execution will continue from
the block after IEND.

Conditional
Not satisfied
expression

Satisfied

Process 1 Process 2

IMPORTANT Nesting of the branching commands IF ELSE IEND is restricted to a maximum of eight levels.

(2) Format

IF (conditional_expression);
··· (Process_1)
ELSE;
··· (Process_2)
IEND;
Command Reference

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 8 Command Reference
8.4.1 Branching Commands (IF ELSE IEND)

The conditional expressions that can be used for the branching commands are as follows.
(a) Bit Data Comparison
• Use == (MATCH) command for data comparison.
• Specify a register on the left, and 0 or 1 on the right.
Format
IF MB000000 == 0; "MB000000 = 0
IF MB000000 == 1; "MB000000 = 1
• &, ⏐, and ! (AND, OR, and NOT) can be used.
Operations in IF (MB000000 & MB000001) == 1; "MB000000=1 AND MB000001=1
Conditional IF (MB000000 & !MB000001) == 1; "MB000000=1 AND MB000001=0
Expression IF (MB000000 | MB000001) == 1; "MB000000=1 OR MB000001=1
IF (MB000000 | !MB000001) == 1; "MB000000=1 OR MB000001=0
• When a <> (MISMATCH) is used:
IF MB000000 <> 0; => Syntax error
• When a numerical value is specified on the left, or a register is specified on the right:
IF 1 == MB000000; => Syntax error
Syntax Error IF MB000000 == MB000001; => Syntax error
Examples • No data comparison command:
IF MB000000; => Syntax error
IF (0); => Syntax error
• When more than one data comparison command is used:
IF (MB000000 == 0) & (MB000001 == 1); => Syntax error

(b) Integer/Double Integer/Real Number Data Comparison

• All data comparison commands (==, <>, >, <, >=, <=) can be used.
• Specify a register either on the left or right.
Format IF MW00000 == 3; "MW00000 = 3
IF ML00000 <> ML00002; "ML00000 ≠ ML00002
IF 1.23456 >= MF00000; "1.23456 ≥ MF00000
• Arithmetic operations and logic operations can be used.
Operations in
IF MW00000 == (MW00001/3); "MW00000 = (MW00001 ÷ 3)
Conditional
IF (ML00000 & F0000000H) <> ML00002; "(ML00000 ∧ F0000000H) ≠ ML00002
Expression
IF 1.23456 >= (MF00000 * MF00002); "1.23456 ≥ (MF00000 × MF00002)
• When a constant is specified both on the left and right:
IF 0 == 3; => Syntax error
IF (3.14*2*1000) > 9000.0; => Syntax error
Syntax Error • No comparison command:
Examples IF MW000000; => Syntax error
IF (-1); => Syntax error
• When more than one data comparison command is used:
IF (MW00000 < 0) & (MW000001 > 0); => Syntax error

(3) Programming Examples

EXAMPLE
A programming example of branching commands (IF ELSE IEND) is shown below.

IF MB000000== 1;
MOV [A1] 10000; " If MB000000 is ON, A1 starts positioning.
ELSE;
MOV [B1] 10000; " If MB000000 is OFF, B1 starts positioning.
IEND;

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 8.4 Program Control Commands

8.4.2 Repeat (WHILE WEND)

Motion Programs Sequence Programs
Applicable Applicable

(1) Overview
The Repeat commands (WHILE WEND) repeatedly execute the blocks from WHILE and WEND as long as the
conditional expression is satisfied. When the conditional expression is no longer satisfied, program execution
will jump to the block after WEND.

Not satisfied Conditional

expression

Satisfied

Process

• Nesting of the repeat commands (WHILE WEND) is restricted to a maximum of eight levels.
IMPORTANT • If the repeated program section is created using only commands for which processing is completed in one
scan, the Machine Controller may be overloaded by the scan processing, resulting in scan time over or
watchdog timer error.
When using a command for which processing is completed in one scan, be sure to enter EOX (SCAN
WAIT) or TIM (DWELL TIME).
Refer to 7.5 Commands and Execution Scans for information on the commands for which processing is
completed in one scan.

(2) Format

WHILE (conditional_expression) ;
··· ;
(Process) ;
Command Reference

··· ;
WEND ; " End of Repeat

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 8 Command Reference
8.4.2 Repeat (WHILE WEND)

The conditional expressions that can be used for repeat commands are as follows.
(a) Bit Data Comparison
• Use == (MATCH) command for data comparison.
• Specify a register on the left, and 0 or 1 on the right.
Format
WHILE MB000000 == 0; "MB000000 = 0
WHILE MB000000 == 1; "MB000000 = 1
• &, ⏐, and ! (AND, OR, and NOT) can be used.
Operations in WHILE (MB000000 & MB000001) == 1; "MB000000=1 AND MB000001=1
Conditional WHILE (MB000000 & !MB000001) == 1; "MB000000=1 AND MB000001=0
Expression WHILE (MB000000 | MB000001) == 1; "MB000000=1 OR MB000001=1
WHILE (MB000000 | !MB000001) == 1; "MB000000=1 OR MB000001=0
• When a <> (MISMATCH) is used:
WHILE MB000000 <> 0; => Syntax error
• When a numerical value is specified on the left, or a register is specified on the right:
WHILE 1 == MB000000; => Syntax error
Syntax Error WHILE MB000000 == MB000001; => Syntax error
Examples • No data comparison command:
WHILE MB000000; => Syntax error
WHILE (0); => Syntax error
• When more than one data comparison command is used:
WHILE (MB000000 == 0) & (MB000001 == 1); => Syntax error

(b) Integer/Double Integer/Real Number Data Comparison

• All data comparison commands (==, <>, >, <, >=, <=) can be used.
• Specify a register either on the left or right.
Format WHILE MW00000 == 3; "MW00000 = 3
WHILE ML00000 <> ML00002; "ML00000 ≠ ML00002
WHILE 1.23456 >= MF00000; "1.23456 ≥ MF00000
• Arithmetic operations and logic operations can be used.
Operations in
WHILE MW00000 == (MW00001/3); "MW00000 = (MW00001 ÷ 3)
Conditional
WHILE (ML00000 & F0000000H) <> ML00002; "(ML00000 ∧ F0000000H) ≠ ML00002
Expression
WHILE 1.23456 >= (MF00000 * MF00002); "1.23456 ≥ (MF00000 × MF00002)
• When a constant is specified both on the left and right:
WHILE 0 == 3; => Syntax error
WHILE (3.14*2*1000) > 9000.0; => Syntax error
Syntax Error • No data comparison command
Examples WHILE MW000000; => Syntax error
WHILE (-1); => Syntax error
• When more than one data comparison command is used:
WHILE (MW00000 < 0) & (MW000001 > 0); => Syntax error

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 8.4 Program Control Commands

(3) Programming Examples

A programming example of a repeat command (WHILE WEND) is shown below.
With this program example, 10 circles will be drawn.
EXAMPLE

MOV [A1] 0 [B1] 0; "Positioning

MW00100 = 1; "Counter preset
INC; "Incremental mode designation
PLN [A1] [B1]; "Coordinate plane designation
WHILE MW00100 <= 10 ; "Repeat command
MCW [A1]0 [B1]0 U50. V50. F8000 ; "Circular interpolation
MOV [A1]50. [B1]50.; "Positioning
MW00100 = MW00100 + 1; "Counter increments
WEND ; "End of repeat programming

B1 Circle 10

Circle 9

Circle 3
Circle 2

Circle 1

50
A1
(0,0)
50

Fig. 8.54 Repeat Commands (WHILE WEND) Programming Example

Command Reference

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 8 Command Reference
8.4.3 Parallel Execution (PFORK, JOINTO, PJOINT)

8.4.3 Parallel Execution (PFORK, JOINTO, PJOINT)

Motion Programs Sequence Programs
Applicable Not applicable

(1) Overview
The Parallel Fork (PFORK) command performs parallel execution for blocks with the designated labels. After
each parallel process has been executed, execution is merged at the label designated by the JOINTO command. A
maximum of four parallel processes can be designated.
For further in formation on the labels, refer to 7.1.2 (1) Label.

PFORK

Label 1 Label 2 Label 3 Label 4

Process 1 Process 2 Process 3 Process 4

JOINTO label X JOINTO label X JOINTO Label X JOINTO label X

Label X
PJOINT

Fig. 8.55 Designating Parallel Execution Commands (PFORK, JOINTO, PJOINT)

With the above commands, the labelled blocks (process1, process2, process3,...) designated by the PFORK com-
mand are executed in parallel. After each parallel process has been executed, execution is merged at the label
designated by the JOINTO commands.
These commands enable the designation of any combination of commands for parallel execution, such as axis
move commands and sequence commands, or axis move commands and another axis move commands.
(a) Commands Designated Before PFORK
Values set by commands designated before the PFORK command, e.g., FMX, ABS/INC, F designation, IFP,
PLN, IAC/IDC, are effective in processes executed in parallel for the parallel execution commands.
Commands can also be used to set different values in each of the parallel processes. After merging, process-
ing will continue using the values set in the leftmost process.

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 8.4 Program Control Commands

(b) Parallel Execution Commands in Subprograms

The following restrictions apply to the parallel execution commands in subprograms:
• A maximum of two parallel processes are possible in a subprogram.
• An MSEE command can be coded only in the blocks designated by the first label.

PFORK 0001 0002;

0001:MVS [A1]100.[C1]100.;
JOINTO 0003;
0002:IOW MW10000==1;
JOINTO 0003;
0003:PJOINT;

PFORK

0001 0002

MVS[A1]100.[C1]100. IOW MW10000==1

0003

Fig. 8.56 Parallel Execution Commands in Subprograms

• If the same label is used more than once in a program, an error will result (“Duplicate labels are defined”).
IMPORTANT • If the number of PFORK branches and the number of labels are different, an error will result.

(2) Format

PFORK Label1 Label 2 Label 3 .....

Label 1: Process 1
JOINTO Label X;
Label 2: Process 2
JOINTO Label X;
Label 3: Process 3
JOINTO Label X;
Label X: PJOINT
Command Reference

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 8 Command Reference
8.4.3 Parallel Execution (PFORK, JOINTO, PJOINT)

(3) Programming Examples

EXAMPLE
A programming example of parallel execution commands (PFORK, JOINTO, PJOINT) is shown below.

MOV [A1]100. [B1]150.;

MVS [A1]200. [B1]250. F1000;
PFORK 0001 0002 0003;
0001:MVS [A1]300. [B1]100.
JOINTO 0004;
0002:MW12345=MW10000+MW10002;
IOW MB120001==1;
JOINTO 0004;
0003:MVS [C1]100. [D1]100. F3000;
JOINTO 0004;
0004:PJOINT;
MOV [A1]500. [B1]500. [C1]500.;
•
•

MOV[A1]100.[B1]150.
MVS[A1]200.[B1]250.

PFORK
0002 0003
0001

MVS[A1]300.[B1]100. MW12345=MW10000 MVS[C1]100.[D1]100.

+MW10002;

IOW MB120001==1

JOINTO 0004 JOINTO 0004 JOINTO 0004

0004
PJOINT

MOV[A1]500.[B1]500.[C1]500.

Fig. 8.57 Parallel Execution Command (PFORK, JOINTO, PJOINT) Programming Example

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 8.4 Program Control Commands

8.4.4 Selective Execution (SFORK, JOINTO, SJOINT)

Motion Programs Sequence Programs
Applicable Applicable

(1) Overview
The Selective Execution commands (SFORK, JOINTO, SJOINT) execute labelled blocks following question
marks (?) when the designated conditional expressions are satisfied. After each parallel process has been exe-
cuted, execution is merged at the block with the label designated by the JOINTO commands. Up to 16 condi-
tional expressions including DEFAULT can be designated.
If not all the designated conditional expressions are satisfied, the labelled block following DEFAULT? is exe-
cuted.
DEFAULT can be designated only in the last conditional expression.
DEFAULT designation can be omitted in motion programs, but not in sequence programs.

• With MP2000 series Machine Controller, the system version number must be Ver.2.66 or later to use the SFORK com-
INFO mand in sequence programs. There is no limitation in the system version number for using the SFORK command in
motion programs.
• The following versions of programming tool MPE720 are required to designate DEFAULT.

MP2000 Series
Required Version MPE720 Required Version
Machine Controller
MPE720 Ver.5 MPE720 Ver.5.41 or later
All models Any version number MPE720 Ver.6.06 or later
MPE720 Ver.6
MPE720 Ver.6.06 Lite or later

Conditional Conditional Conditional Conditional

expression expression expression expression DEFAULT
1 2 3 4

Label 1 Label 2 Label 3 Label 4 Label n

Process 1 Process 2 Process 3 Process 4 Process 5

JOINTO Label X JOINTO Label X JOINTO Label X JOINTO Label X JOINTO Label X

Label X

SJOINT
Command Reference

Fig. 8.58 Designating Selective Execution Commands (SFORK, JOINTO, SJOINT)

INFO • The conditional expressions are examined in order from conditional expression 1. Even when more than one condi-
tional expression is satisfied, processing is executed from the label that first satisfies the conditional expression.
• When using an SFORK command in motion programs, be sure to code conditions that will be satisfied. If a condition is
not satisfied, processing will remain in wait status at the SFORK command block until the condition is satisfied.

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 8 Command Reference
8.4.4 Selective Execution (SFORK, JOINTO, SJOINT)

(2) Format

　　
SFORK Conditional expression 1 ? Label1, Conditional expression 2 ? Label 2, Conditional expression 3 ?
Label 3, Conditional expression 4 ? Label 4,
....., DEFAULT? Label n ;

Label 1: Process 1
JOINTO Label X
Label 2: Process 2
JOINTO Label X
Label 3: Process 3
JOINTO Label X
Label 4: Process 4
JOINTO Label X
•
•
Label n: Process n
JOINTO Label X
Label X: SJOINT

The conditional expressions that can be used for selective execution command (SFORK) are as follows.
(a) Bit Type Data Comparison
• Use == (MATCH) command for data comparison.
• Specify a register on the left, and 0 or 1 on the right.
Format
MB000000 == 0? Label "MB000000 = 0
MB000000 == 1? Label "MB000000 = 1
• &, ⏐, and ! (AND, OR, and NOT) can be used.
Operations in (MB000000 & MB000001) == 1? Label "MB000000 =1 AND MB000001 = 1
Conditional (MB000000 & !MB000001) == 1? Label "MB000000 =1 AND MB000001 = 0
Expressions (MB000000 | MB000001) == 1? Label "MB000000 =1 OR MB000001 = 1
(MB000000 | !MB000001) == 1? Label "MB000000 =1 OR MB000001 = 0
• When <> (MISMATCH) is used:
MB000000 <> 0? Label => Syntax error
• When a numerical value is specified on the left, or a register is specified on the right:
1 == MB000000? Label => Syntax error
Syntax Error MB000000 == MB000001? Label => Syntax error
Examples • No data comparison command:
MB000000? Label => Syntax error
(0)? Label => Syntax error
• When more than one data comparison command is used:
(MB000000 == 0) & (MB000001 == 1)? Label => Syntax error

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 8.4 Program Control Commands

(b) Integer/Double Integer/Real Number Data Comparison

• All data comparison commands (==, <>, >, <, >=, <=) can be used.
• Specify a register either on the left or right.
Format MW00000 == 3? Label "MW00000 = 3
ML00000 <> ML00002? Label "ML00000 ≠ ML00002
1.23456 >= MF00000? Label "1.23456 ≥ MF00000
• Arithmetic operation and logic operation can be used.
Operations in
MW00000 == (MW00001/3)? Label "MW00000 = (MW00001 ÷ 3)
Conditional
(ML00000 & F0000000H) <> ML00002? Label "(ML00000 ∧ F0000000H) ≠ ML00002
Expression
1.23456 >= (MF00000 * MF00002)? Label "1.23456 ≥ (MF00000 MF00002)
• When a constant is specified both on the left and right:
0 == 3? Label => Syntax error
(3.14*2*1000) > 9000.0? Label => Syntax error
Syntax Error • No data comparison command:
Examples MW000000? Label => Syntax error
(-1)? Label => Syntax error
• When more than one data comparison command is specified
(MW00000 < 0) & (MW000001 > 0)? Label => Syntax error

Command Reference

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 8 Command Reference
8.4.4 Selective Execution (SFORK, JOINTO, SJOINT)

(3) Programming Examples

A programming example of selective execution commands (SFORK, JOINTO, SJOINT) is shown below.
EXAMPLE

MOV [A1]100.[B1]150.;
MVS [A1]200.[B1]250.F1000;
SFORK MW00100==1 ? 0001,MW00100==2 ? 0002,MW00100==3 ? 0003,DEFAULT ? 0004;
0001:MVS [A1]300.[B1]100.F3000;
JOINTO 0005
0002:MVS [A1]300.[C1]100.F3000;
JOINTO 0005
0003:MVS [C1]300.[S]100.F3000;
JOINTO 0005
0004:JOINTO 0005;
0005:SJOINT;
MOV[A1]500.[B1]500.[C1]500.

MOV[A1]100.[B1]150.
MVS[A1]200.[B1]250. F1000;

SFORK

MW00100==1 MW00100==2 MW00100==3 DEFAULT

MVS[A1]300.[B1]100. F3000; MVS[A1]300.[C1]100. F3000; MVS[C1]300.[S]100. F3000;

JOINTO 0005 JOINTO 0005 JOINTO 0005 JOINTO 0006

SJOINT

MOV[A1]500.[B1]500.

Fig. 8.59 Selective Execution Command (SFORK, JOINT, SJOINT) Programming Example

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 8.4 Program Control Commands

8.4.5 Motion Subprogram Call (MSEE)

Motion Programs Sequence Programs
Applicable Not applicable

(1) Overview
The Motion Subprogram Call command (MSEE) can call a subprogram that has been stored in the motion pro-
gram memory from the motion program.
Nesting of the subprogram call command (MSEE) is restricted to a maximum of eight levels.

MPM001

MOV [A1]1000;
MPS002 (1st level nesting)
MSEE MPS002;

.... MOV [B1]1000;

MOV [C1]1000;
.... MPS003 (2nd level nesting)
MSEE MPS003;
RET; MOV [B1]1000;
MOV [C1]1000;
RET;

Fig. 8.60 Subprograms

A subprogram return command (RET) must be coded at the end of the subprogram.

 Restrictions on Subprograms
IMPORTANT
The following restrictions apply to motion program coding within a subprogram.
• A maximum of two parallel executions with a PFORK command
• If the program number of a main program is called by an MSEE command, the program will not be exe-
cuted.

(2) Format

MSEE MPS Subprogram number; Command Reference

Item Unit Usable Data

Subprogram number − A number between 001 and 256

(3) Programming Examples

A programming example of the MSEE command to call the motion subprogram MPS101 is shown below.
EXAMPLE

MSEE MPS101;
Subprogram number designation

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 8 Command Reference
8.4.6 Sequence Subprogram Call (SSEE)

8.4.6 Sequence Subprogram Call (SSEE)

Motion Programs Sequence Programs
Not applicable Applicable

(1) Overview
The Sequence Subprogram Call command (SSEE) calls a subprogram that has been stored in the sequence pro-
gram memory from the sequence program.
Nesting of the subprogram call command is restricted to a maximum of eight levels.
SPM001
MW00000=1;
SPS002 (1st level nesting)
SSEE SPS002;
.... MW00000=2;
SPS003 (2nd level nesting)
.... SSEE SPS003;
.... MW00000=3;
END;
.... ....

RET; ....
RET;

Fig. 8.61 Subprograms

A subprogram return command (RET) must be coded at the end of a subprogram.

 Restrictions on Subprograms
IMPORTANT
The following restriction applies to sequence program coding within a subprogram.
• If a main program is called by the SSEE command, the program will not be executed.

(2) Format

SSEE SPS Subprogram number ;

Item Unit Usable Data

Subprogram number − A number between 001 and 256

(3) Programming Examples

A programming example of the SSEE command to call the subprogram SPS101 is shown below.
EXAMPLE

SSEE SPS101;
Subprogram number designation

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 8.4 Program Control Commands

8.4.7 User Function Call From Motion Program (UFC)

Motion Programs Sequence Programs
Applicable Not applicable

(1) Overview
The User Function Call From Motion Program command (UFC) calls a user function (ladder program) from a
motion program.
When execution of the called user function is completed, the block after the UFC command block will be exe-
cuted.

For the user function called from the motion program, output bit YB000000 is used for completion judgement
IMPORTANT (Complete Bit).
• When YB000000 = OFF at the completion of execution of user function:
• Execution of the user function is recognized as incomplete, and the user function will be called again during
the next scan.
• When YB000000 = ON at the completion of execution of user function:
• Execution of the user function is recognized as complete, and the block after the UFC command block will
be executed.

(2) Format

UFC Function name Input data, Input address, Output data;

Item Unit Usable Data

Function name − ASCII 8 bytes
Input data − Max: 16 data items (Minimum: 1 data item)
Input address − Max: 1 address
Output data * − Max:16 data items (Minimum: 1 data item)

* The input address can be omitted. [UFC Input data, Output data;] is used if there is no input
address. The minimum requirement is one input data item and one output data item.

Command Reference

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 8 Command Reference
8.4.7 User Function Call From Motion Program (UFC)

(3) Programming Examples

A UFC command programming example is shown below.
EXAMPLE

UFC KANSUU MB000000 IW0010 MB000002, MA00100, MB000001 MW00200 ML00201;

Function Input data Input address Output data
name

Function name
MB000000 MB000001
INPUT-1 OUTPUT-1

IW0010 INPUT-2 OUTPUT-2 MW00200

MB000002
INPUT-3 OUTPUT-3 ML00201

INPUT-4
MA00100

Fig. 8.62 User Function Call Command (UFC)

(4) UFC Command Creation Procedure

Use the following procedure to create a UFC command.
Determine the UFC command specifi- • Determine the number of I/Os and data type.
cations. • Determine the function name.

Set the following on the Program

Property window.
Use the MPE720 to enter the definitions.
• Configuration definition
• I/O definitions

Create the user functions (ladder pro- Create the user functions in the same way as for the
gram). drawings, except for the register type to be used.

Write a UFC command block with the format:

Create the motion program. UFC function name input data, input address, output
data;

Check the operation.

(5) Register Types Used Within User Functions

The data types are as follows.
Data Type
BIT Bit
WORD Integer
LONG Double integer
FLOAT Real number

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 8.4 Program Control Commands

(6) Relationship between I/O Registers and Internal Function Registers

The correspondence between the I/O registers designated by the UFC command and the function registers is
shown below.

Input Internal Function Registers Output

X registers Y registers
Bit data input (Input registers) (Output registers) Bit data output
B-VAL XB000000 to XB00000F YB000000 to YB00000F B-VAL
(16 bits max.)
XW0001 YW0001
XW0002 YW0002
XW0003 YW0003
XW0004 YW0004
 
 
  I-REG,
I-REG, L-REG output
L-REG input  
(16 words max.)  
 
 
 
XW00014 YW00014
XW00016 YW00016

Address input A registers

MA00100 MW00100 AW00000
MW00101 AW0001
MW00102 AW0002
MW00103 AW0003
MW00104 AW0004

Z registers # registers D registers

Command Reference

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 8 Command Reference
8.4.7 User Function Call From Motion Program (UFC)

The following 11 types of register can be used in each function.

Table 8.2 Function Registers
Type Name Designation Method Description Characteristics
Input to a function
Bit input: XB000000 to XB0000F
Function input Integer input: YW00001 to XW00016
X XB, XW, XL, XFnnnnn
register Double integer input: XL00001 to XL00015
Register number nnnnn is a decimal expres-
sion.
Input to a function
Bit input: YB000000 to YB0000F
Function output
Y YB, YW, YL, YFnnnnn Integer input: YW00001 to YW00016
register
Double integer input: YL00001 to YL00015
Register number nnnnn is a decimal expression
Internal register unique to each function
Can be used by the function for internal pro-
Internal function
Z ZB, ZW, ZL, ZFnnnnn cesses.
register
Register number nnnnn is a decimal expres-
sion.
External registers that use the address input
value as the base address. Unique to each
External function
A AB, AW, AL, AFnnnnn For linking with S, M, I, O, #, and DAnnnnn
function register
Register number nnnnn is a decimal expres-
sion.
Registers that can be referenced only by a pro-
gram.
Can be referenced only the corresponding
#B, #W, #L, #Fnnnnn drawing.
# # register
(#Annnnn) The actual range to be used is specified by the
user using the MPE720.
Register number nnnnn is a decimal expres-
sion.
Registers unique to each drawing
Can be referenced only by the corresponding
drawing.
DB, DW, DL, DFnnnnn
D D register The actual range to be used is specified by the
(DAnnnnn)
user using the MPE720.
Register number nnnnn is a decimal expres-
sion.
SB, SW, SL, SFnnnnn
S System register
(SAnnnnn)
MB, MW, ML, MFnn-
M Data register nnn Same as the drawing registers.
(MAnnnnn) These registers are used for both drawings and
Common to all
IB, IW, IL, IFhhhh functions. Care must be taken in using them to
I Input register drawings
(IAhhhh) reference the same function from drawings
OB, OW, OL, OFhhhh with different priority levels.
O Output register
(OAhhhh)
CB, CW, CL, CFnnnnn
C Constant register
(CAnnnnn)
Note: SA, MA, IA, OA, DA, #A, and CA can also be used inside functions.

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 8.4 Program Control Commands

An example of the transfer of I/O registers is shown below.

Motion program coding

UFC TESTFUNC DB000000 DB000001 MW00030 MW00032, MA00100, DB000002 MW00040

X register
DB000000
Y register DB000002

DB000001 XW00000 YW00000

XW00001 YW00001 MW00040
XW00002 YW00002

MW00030

MW00032 XW00016 YW00015

MA00100 MW00100 AW00000

MW00101 AW00001
MW00102
AW00002

 
 
 
 
 
 
 

Fig. 8.63 Motion Program Coding

Command Reference

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 8 Command Reference
8.4.7 User Function Call From Motion Program (UFC)

(7) Creating User Functions

The procedure for creating the user function of the following specifications is described below.
Specifications Motion Program
Designate the servo axis No. and speed data, and set this in MW00030 = Servo axis No. (1 or 2)
the motion setting parameter OL10: Speed reference ML00032 = Rapid traverse speed
setting. UFC FUNC-T1 MW00030 ML00032,,DB000001;

Use the following procedure to create the user function.

1. Open the Ladder subwindow. Right-click Function under Ladder program. Click New in the pop-up
menu that will appear.

2. Enter FUNC-T1 in the Program Name input field in the Create New Program dialog box, and then
click OK.

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 8.4 Program Control Commands

3. A blank ladder program field will appear in the Ladder subwindow. Right-click FUNC-T1 to select Prop-
erty from the pop-up menu.

4. In the Program Property window, click Function input definition under I/O definition to set the num-
ber of function inputs and data type, and click Function output definition to set the number of function
outputs and data type.
Example: For the UFC command block UFC FUNC-T1 MW00030 ML00032,,DB000001;,
the settings in the Program Property window are as shown below.

Command Reference

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 8 Command Reference
8.4.7 User Function Call From Motion Program (UFC)

5. Close the DWG Configuration Definition window, and edit the user function program in the ladder
program edit window.

6. From the Compile menu, select Compile F8.

7. In the Motion Editor window, create a program to call user function FUNC-T1.

The user function that is called from the motion program is created.
Execute the motion program to check the operation.

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 8.4 Program Control Commands

8.4.8 User Function Call from Sequence Program (FUNC)

Motion Programs Sequence Programs
Not applicable Applicable

(1) Overview
The User Function Call from Sequence Program command (FUNC) calls user functions (ladder programs) from
the sequence program.

(2) Format

UFC Function name Input data 1 Input data 2 Input data 3 ....., Input address,

Output data 1 Output data 2 Output data 3 ..... ;

Item Unit Usable Data

Function name − ASCII 8 bytes
Input data − Max: 16 data items (minimum: 1 data item)
Input address − Max: 1 address
Output data − Max: 16 data items (minimum: 1 data item)

Note: 1. More than one item for input data and output data can be described.
(At least one item each for input data and output data must be described.) The input address
can be omitted.
When the input address is omitted, describe only the comma (,).
2. The FUNC command calls a user function. The execution proceeds to the next block after
the FUNC command whether or not the user function execution has been completed.

(3) Programming Examples

A FUNC command programming example is shown below.
In this example, three input data items, one input address, and three output data items are described.
EXAMPLE

FUNC KANSUU MB000000 IW0010 MB000020, MA00100, MB000001 MW00201 ML00202;

Function Input data Input address Output data
name
Command Reference

Function name
MB000000 MB000001
INPUT-1 OUTPUT-1

IW0010 INPUT-2 OUTPUT-2 MW00200

MB000002
INPUT-3 OUTPUT-3 ML00201

INPUT-4
MA00100

Fig. 8.64 User Function Call Command (FUNC) Programming Example

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 8 Command Reference
8.4.9 Program End (END)

8.4.9 Program End (END)

Motion Programs Sequence Programs
Applicable Applicable

(1) Overview
The Program End command (END) ends program operation.
No other commands can be coded in the same block as the END command.
Program operation ends after execution of the END command block.
If there is a move command in the previous block, the program operation ends after the in-position check is com-
pleted.

(2) Format

END;
Program end

8-124
 8.4 Program Control Commands

8.4.10 Subprogram End (RET)

Motion Programs Sequence Programs
Applicable Applicable

(1) Overview
The Subprogram End command (RET) ends subprogram operation.
After operation of the called subprogram is ended by the RET command, execution proceeds to the block after
the Motion Subprogram Call command (MSEE) or Sequence Subprogram Call command (SSEE) in the main
program or subprogram that called the subprogram.

MPM001

MOV [A1]1000;
MPS002
MSEE MPS002;

MOV [B1]1000;
MOV [C1]1000;
RET;

(2) Format

RET;
Subprogram end

Command Reference

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 8 Command Reference
8.4.11 Dwell Time (TIM)

8.4.11 Dwell Time (TIM)

Motion Programs Sequence Programs
Applicable Not applicable

(1) Overview
The Dwell Time command (TIM) causes execution to pause for a specified period of time before the start of exe-
cution of the next command block.
A period of time between 0.00 to 600.00 seconds can be specified.

(2) Format

TIM T Dwell time ;

Item Unit Usable Data

Dwell time 0.01 s  Directly designated value
 Integer type register (Indirect designation)

(3) Programming Examples

A TIM command programming example is shown below.
EXAMPLE

MOV [A1]100;
TIM T250 ;
2.5 seconds

The TIM command is executed after positioning has been completed.

Speed (V)

MOV Next block

Time (t)
2.5 s

Fig. 8.65 Dwell Time Command (TIM) Programming Example

8-126
 8.4 Program Control Commands

8.4.12 I/O Variable Wait (IOW)

Motion Programs Sequence Programs
Applicable Not applicable

(1) Overview
The I/O Variable Wait command (IOW) causes execution to wait until the status specified by the conditional
expression is satisfied. When the condition is satisfied, execution proceeds to the next block.

(2) Format

IOW IB00001&IB00002 == 1;

Item Description Usable Data

• All integer type, double integer type, and real number type registers (Exclud-
ing # and C registers)
Conditional
A • The above registers with subscript
expression
• Subscript registers
• Constants

The conditional expressions that can be used in the IOW command block are as follows.
(a) Bit Data Comparison
• Use = = (MATCH) command for data comparison.
• Specify a register on the left, and 0 or 1 on the right.
Formant
IOW MB000000 == 0; "MB000000 = 0
IOW MB000000 == 1; "MB000000 = 1
• &, , and ! (AND, OR, NOT) can be used.
Operations in IOW (MB000000 & MB000001) == 1; "MB000000 =1 AND MB000001 = 1
Conditional IOW (MB000000 & !MB000001) == 1; "MB000000 =1 AND MB000001 = 0
Expression IOW (MB000000 | MB000001) == 1; "MB000000 = 1 OR MB000001 = 1
IOW (MB000000 | !MB000001) == 1; "MB000000 = 1 OR MB000001 = 0
• When <> (MISMATCH) is used:
IOW MB000000 <> 0; => Syntax error
• When a numerical value is specified on the left, or a register is specified on the right:
IOW 1 == MB000000; => Syntax error
Command Reference

Syntax Error IOW MB000000 == MB000001; => Syntax error

Examples • No data comparison command:
IOW MB000000; => Syntax error
IOW (0); => Syntax error
• When more than one data comparison command is used:
IOW (MB000000 == 0) & (MB000001 == 1); => Syntax error

8-127
 8 Command Reference
8.4.12 I/O Variable Wait (IOW)

(b) Integer/Double Integer/Real Number Data Comparison

• All data comparison commands (==, <>, >, <, >=, <=) can be used.
• Specify a register either on the left or right.
Format IOW MW00000 == 3; "MW00000 = 3
IOW ML00000 <> ML00002; "ML00000 ≠ ML00002
IOW 1.23456 >= MF00000; "1.23456 ≥ MF00000
• Arithmetic operations and logic operations can be used.
Operations in
IOW MW00000 == (MW00001/3); "MW00000 = (MW00001 ÷ 3)
Conditional
IOW (ML00000 & F0000000H) <> ML00002; "(ML00000 ∧ F0000000H) ≠ ML00002
Expression
IOW 1.23456 >= (MF00000 * MF00002); "1.23456 ≥ (MF00000 × MF00002)
• When a constant is specified both on the left and right:
IOW 0 == 3; => Syntax error
IOW (3.14*2*1000) > 9000.0; => Syntax error
Syntax Error • No data comparison command:
Examples IOW MW000000; => Syntax error
IOW (-1); => Syntax error
• When more than one data comparison command is used:
IOW (MW00000 < 0) & (MW000001 > 0); => Syntax error

(3) Programming Examples

An IOW command programming example is shown below.
EXAMPLE

IOW (MB001001&MB001002)== 1;
MOV [A1]1000;

Speed
Positioning for the axis A1

Time

MB001001

MB001002

Fig. 8.66 I/O Variable Wait Command (IOW) Programming Example

8-128
 8.4 Program Control Commands

8.4.13 One Scan Wait (EOX)

Motion Programs Sequence Programs
Applicable Not applicable

(1) Overview
The One Scan Wait command (EOX) causes program execution to be suspended for one scan.
The block after EOX command will be executed in the next scan.

(2) Format

EOX;

(3) Programming Examples

An EOX command programming example is shown below.
(a) Used in Combination with Sequence Commands
EXAMPLE

MW00000=100; First scan

OB00010=1;
EOX;
OB00011=0; Second scan

(b) Used with a WHILE Command

EXAMPLE

WHILE OB00010==1;
EOX;
WEND;

Command Reference

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 8 Command Reference
8.4.14 Single-block Signal Disabled (SNGD)/Single-block Signal Enabled (SNGE)

8.4.14 Single-block Signal Disabled (SNGD)/Single-block Signal Enabled (SNGE)

Motion Programs Sequence Programs
Applicable Not applicable

(1) Overview
The Single-block Signal Disabled command (SNGD) and the Single-block Signal Enabled command (SNGE) are
used to specify whether to disable or enable the single step operation when debugging a program.
Regardless of the single-block operation mode setting, the blocks enclosed between SNGD and SGNE com-
mands are executed continuously without single-block stops.

 Single-block operation mode

TERMS
In single-block operation mode, a stop is executed for each block.

(2) Format

SNGD;
Blocks to be continuously executed

SNGE;

(3) Programming Examples

EXAMPLE
The programming example of SNGD and SNGE commands is shown below.

MVS [A1]0 [B1]0;

SNGD;
MVS [A1]100 [B1]200; “ 1 ”
MB000101 = 1; “2”
MB000102 = 1; “3”
SNGE;
MB000103 = 1;

In the above example, the blocks 1 to 3 enclosed between SNGD and SNGE commands are executed contin-
uously without single-block stops regardless of the single-block operation mode setting.

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 8.5 Arithmetic Operations

8.5 Arithmetic Operations

This section explains the arithmetic operation commands.
For priority levels of Arithmetic Operation, refer to 7.4 Priority Levels of Operations.

8.5.1 Substitute (=)

Motion Programs Sequence Programs
Applicable Applicable

(1) Overview
The operation result on the right side of the expression is substituted in the register on the left side.

(2) Format

Result = Math expression ;

A B

Item Description Usable Data

• All bit type, integer type, double integer type, real number type registers (Excluding
# and C registers)
A Result
• The above registers with subscript
• Subscript registers
• All bit type, integer type, double integer type, real number type registers (Excluding
# and C registers)
Math
B • The above registers with subscript
expression
• Subscript registers
• Constants

(3) Programming Examples

Substitute (=) command programming examples are shown below.
EXAMPLE
Motion Programs/
Type Ladder Programs
Sequence Programs

B MB001000=1;
Command Reference

W MW00100=12345;

L ML00100=1234567;

F MF00100=1.2345;

8-131
 8 Command Reference
8.5.2 Add (+)

8.5.2 Add (+)

Motion Programs Sequence Programs
Applicable Applicable

(1) Overview
ADD (+) performs integer and real number addition on the right side and stores the result in the register on the
left side. With mixed integers and real numbers, the data type on the left side is also stored.

(2) Format

MW00101 = MW00100 + 12345 ;

A B C

Item Description Usable Registers

• All integer type, double integer type, real number type registers (Excluding # and C
registers)
A Data output
• The above registers with subscript
• Subscript registers
• All integer type, double integer type, real number type registers (Excluding # and C
B Data input
registers)
• The above registers with subscript
C Data to add • Subscript registers
• Constants

(3) Programming Examples

Add (+) command programming examples are shown below.
EXAMPLE
Motion Programs/
Type Ladder Programs
Sequence Programs
B − −

W MW00101=MW00100+12345;

L ML00106=ML00102+ML00104;

F MF00202=MF00200+1.23456;

IMPORTANT With an operation where the variables are of different data types, the result will be stored according to the data
type on the left side.
For details, refer to 6.1.2 Global Variables and Local Variables.

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 8.5 Arithmetic Operations

8.5.3 Subtract (-)

Motion Programs Sequence Programs
Applicable Applicable

(1) Overview
Subtract (-) performs integer and real number subtraction on the right side and stores the result in the register on
the left side. With mixed integers and real numbers, the data type on the left side is stored.

(2) Format

MW00101 = MW00100 -12345 ;

A B C

Item Description Usable Registers

• All integer type, double integer type, real number type registers (Excluding # and C
registers)
A Data output
• The above registers with subscript
• Subscript registers
• All integer type, double integer type, real number type registers (Excluding # and C
B Data input
registers)
• The above registers with subscript
Data to
C • Subscript registers
subtract
• Constants

(3) Programming Examples

Subtract (−) command programming examples are shown below.
EXAMPLE
Motion Programs/
Type Ladder Programs
Sequence Programs
B − −

W MW00101=MW00100-12345;

L ML00106=ML00102-ML00104;
Command Reference

F MF00202=MF00200-1.23456;

8-133
 8 Command Reference
8.5.4 Multiply (*)

8.5.4 Multiply (*)

Motion programs Sequence Programs
Applicable Applicable

(1) Overview
Multiply (*) performs integer and real number multiplication on the right side and stores the result in the register
on the left side. With mixed integers and real numbers, the data type on the left side is stored.

(2) Format

MW00101 = MW00100 ∗ 12345 ;

A B C

Item Description Usable Registers

• All integer type, double integer type, real number type registers (Excluding # and C
registers)
A Data output
• The above registers with subscript
• Subscript registers
• All integer type, double integer type, real number type registers (Excluding # and C
B Data input
registers)
• The above registers with subscript
Data to
C • Subscript registers
multiply
• Constants

(3) Programming Examples

Multiply (∗) command programming examples are shown below.
EXAMPLE
Motion Programs/
Type Ladder Programs
Sequence Programs
B − −

W MW00102=MW00100∗MW00101

L ML00106=ML00102∗ML00104;

F MF00202=MF00200∗1.23456;

8-134
 8.5 Arithmetic Operations

8.5.5 Divide (/)

Motion Programs Sequence Programs
Applicable Applicable

(1) Overview
Divide (/) performs integer and real number division on the right side and stores the result in the register on the
left side. With mixed integers and real numbers, the data type on the left side is stored.

(2) Format

MW00101 = MW00100 / 12345 ;

A B C

Item Description Usable Registers

• All integer type, double integer type, real number type registers (Excluding # and C
registers)
A Data output
• The above registers with subscript
• Subscript registers
• All integer type, double integer type, real number type registers (Excluding # and C
B Data input
registers)
• The above registers with subscript
Data to
C • Subscript registers
divide
• Constants

(3) Programming Examples

Divide (/) command programming examples are shown below.
EXAMPLE
Motion Programs/
Type Ladder Programs
Sequence Programs
B − −

W MW00102=MW00100/MW00101;

L ML00106=ML00102/ML00104;
Command Reference

F MF00202=MF00200/1.23456;

8-135
 8 Command Reference
8.5.6 Remainder (MOD)

8.5.6 Remainder (MOD)

Motion Programs Sequence Programs
Applicable Applicable

(1) Overview
When specified in the next block after Divide, MOD stores the remainder of the division in the specified vari-
able. The remainder is stored as the data type on the left side.

(2) Format

MW00001 = 1000 / 999;

MW00002 = MOD;

Item Description Usable Registers

• All integer and double integer type registers (Excluding # and C registers)
A Data output • The above registers with subscript
• Subscript registers

(3) Programming Examples

MOD command programming examples are shown below.
EXAMPLE
Motion Programs/
Type Ladder Programs
Sequence Programs
B − −

MW00101=MW00100/3;
W
MW00102=MOD;

ML00106=ML00102/ML00104;
L
ML00108=MOD;

F − −
Example: Double integers
ML00106=ML00100*ML00102/ML00104;
(173575) (100000) (60000) (34567)
ML00108=MOD;
(32975)

The MOD command must be specified in the next block after Divide. If it is not executed in the next block
IMPORTANT after Divide, the operation result cannot be guaranteed.

8-136
 8.6 Logic Operation

8.6 Logic Operation

This section explains the commands used to perform bit and integer logic operations.
Although operations that combine math operations are also possible, real number operations cannot be per-
formed.
For priority levels of arithmetic operations, refer to 7.4 Priority Levels of Operations.

8.6.1 OR (|)
Motion Programs Sequence Programs
Applicable Applicable

(1) Overview
OR performs a logical OR for the immediately preceding operation result and the specified registers, and returns
the operation result. Real number registers cannot be used.
Table 8.3 Logical OR Truth Table (A=B|C)

B C A
0 0 0
0 1 1
1 0 1
1 1 1

(2) Format

MW00100 = DW00102 | AAAAH;

A B C

Item Description Usable Registers

• All bit type, integer type, and double integer type registers (Excluding # and C reg-
isters)
A Data output
• The above registers with subscript
• Subscript registers
• All bit type, integer type, and double integer type registers (Excluding # and C reg-
isters)
B, C Data input • The above registers with subscript
• Subscript registers
• Constants
Command Reference

8-137
 8 Command Reference
8.6.1 OR (|)

(3) Programming Examples

Logical OR(|) command programming examples are shown below.
EXAMPLE
Motion Programs/
Type Ladder Programs
Sequence Programs

B MB001000=MB001010|MB001011;

W MW00100=MW00101|MW00102

L ML00106=ML00102|ML00104;

F − −

8-138
 8.6 Logic Operation

8.6.2 AND (&)

Motion Programs Sequence Programs
Applicable Applicable

(1) Overview
AND (&) performs a logical AND for the immediately preceding operation result and the specified registers, and
then returns the operation result. Real number registers cannot be used.
Table 8.4 Logical AND Truth Table
(A=B&C)
B C A
0 0 0
0 1 0
1 0 0
1 1 1

(2) Format

MW00100 = DW00102 & AAAAH;

A B C

Item Description Usable Registers

• All bit type, integer type, and double integer type registers (Excluding # and C reg-
isters)
A Data output
• The above registers with subscript
• Subscript registers
• All bit type, integer type, and double integer type registers (Excluding # and C reg-
isters)
B, C Data input • The above registers with subscript
• Subscript registers
• Constants

(3) Programming Examples

The AND (&) command programming examples are shown below.
EXAMPLE
Motion Programs/
Type Ladder Programs
Sequence Programs
Command Reference

B MB001000=MB001010&MB001011;

W MW00101=MW00100&00FFH;

L ML00106=ML00102&ML00104;

F − −

8-139
 8 Command Reference
8.6.3 XOR (^)

8.6.3 XOR (^)

Motion Programs Sequence Programs
Applicable Applicable

(1) Overview
XOR (^) performs an exclusive logical OR for the immediately preceding operation result and the specified reg-
isters, and then returns the operation result. Real number registers cannot be used.
Table 8.5 Exclusive Logical OR Truth Table
(A= B ^ C)
B C A
0 0 0
0 1 1
1 0 1
1 1 0

(2) Format

MW00100 = DW00102 ^ AAAAH;

A B C

Item Description Usable Registers

• All integer and double integer type registers (Excluding # and C registers)
A Data output • The above registers with subscript
• Subscript registers
• All integer and double integer type registers (Excluding # and C registers)
• The above registers with subscript
BÅCC Data input
• Subscript registers
• Constants

(3) Programming Examples

The XOR (^) command programming examples are shown below.
EXAMPLE
Motion Programs/Sequence
Type Ladder Programs
Programs
B − −

W MW00101=MW00100 ^ 00FFH;

L ML00106=ML00102 ^ ML00104;

F − −

8-140
 8.6 Logic Operation

8.6.4 NOT (!)

Motion Programs Sequence Programs
Applicable Applicable

(1) Overview
NOT inverts the data in the specified register and returns the operation result. Real number registers cannot be
used.

(2) Format

MB001000 = ! MB001010;

A B

Item Description Usable Registers

• All bit type, integer type, and double integer type registers (Excluding # and C reg-
isters)
A Data output
• The above registers with subscript
• Subscript registers
• All bit type, integer type, and double integer type registers (Excluding # and C reg-
isters)
B Data input • The above registers with subscript
• Subscript registers
• Constants*

* Bit constants cannot be specified.

(3) Programming Examples

Logical NOT (!) programming examples are shown below.
EXAMPLE
Motion Programs/
Type Ladder Programs
Sequence Programs

B MB001000=!MB001010;

W MW00100=!MW00101;
Command Reference

L ML00100=!ML00102

F − −
Example: MW00100=!MW00101;
MW00101
0001 0010 0011 0100
1234H

MW00100
1110 1101 1100 1011
EDCBH

8-141
 8 Command Reference
8.7.1 Data Comparison Commands (==, <>, >, <, >=, <=)

8.7 Data Comparisons

This section explains the data comparison commands that are used for conditional expressions.

8.7.1 Data Comparison Commands (==, <>, >, <, >=, <=)
Motion Programs Sequence Programs
Applicable Applicable

(1) Overview
These commands are used to determine conditional expressions for commands such as branching commands
(IF), repeat commands (WHILE), and I/O WAIT (IOW).
The following six comparison commands are provided.
Comparison Command Meaning
== Match
<> Mismatch
> Greater than
< Less than
>= Greater than or equal to
<= Less than or equal to

(2) Format

IF MB001000 == 1;

Item Description Usable Registers

• All bittype*, integer type, double integer type, and real number type registers
Conditional (Excluding # and C registers)
A
expression • The above registers with subscript
• Subscript registers

* Only the MATCH (= =) command can be used in a bit conditional expression.

(3) Programming Examples

Data comparison command programming examples are shown below.
EXAMPLE
Motion Programs/
Type Ladder Programs
Sequence Programs

B IF MB001000==1;

W IF MW00100<>10;

L IF ML00100>10000;

F IF MF00100>=3.0;

8-142
 8.7 Data Comparisons

The conditional expressions that can be used with data comparison commands are as shown below.
(a) Bit Data Comparison
• Use == (MATCH) command for data comparison.
• Specify a register on the left, and 0 or 1 on the right.
Format
IF MB000000 == 0; "MB000000 = 0
IF MB000000 == 1; "MB000000 = 1
• &, |, ! (AND, OR, NOT) can be used.
Operations in IF (MB000000 & MB000001) == 1; "MB000000=1 AND MB000001=1
Conditional IF (MB000000 & !MB000001) == 1; "MB000000=1 AND MB000001=0
Expression IF (MB000000 | MB000001) == 1; "MB000000=1 OR MB000001=1
IF (MB000000 | !MB000001) == 1; "MB000000=1 OR MB000001=0
• When <> (MISMATCH) is used:
IF MB000000 <> 0; => Syntax error
• When a numerical value is specified on the left, and a register on the right:
IF 1 == MB000000; => Syntax error
Syntax IF MB000000 == MB000001; => Syntax error
Error
Examples • No data comparison command:
IF MB000000; => Syntax error
IF (0); => Syntax error
• When more than one data comparison command is used:
IF (MB000000 == 0) & (MB000001 == 1); => Syntax error

(b) Integer/Double Integer/Real Number Data Comparison

• All data comparison commands (==, <>, >, <, >=, <=) can be used.
• Specify a register either on the left or right.
Format IF MW00000 == 3; "MW00000 = 3
IF ML00000 <> ML00002; "ML00000 ≠ ML00002
IF 1.23456 >= MF00000; "1.23456 ≥ MF00000
• Arithmetic operations and logic operations can be used.
Operations in
IF MW00000 == (MW00001/3); "MW00000 = (MW00001 ÷ 3)
Conditional
IF (ML00000 & F0000000H) <> ML00002; "(ML00000 ∧ F0000000H) ≠ ML00002
Expression
IF 1.23456 >= (MF00000 * MF00002); "1.23456 ≥ (MF00000 × MF00002)
• When a constant is specified both on the left and right:
IF 0 == 3; => Syntax error
IF (3.14*2*1000) > 9000.0; => Syntax error
Syntax Error • No data comparison command:
Examples IF MW000000; => Syntax error
IF (-1); => Syntax error
• When more than one data comparison command is used:
Command Reference

IF (MW00000 < 0) & (MW000001 > 0); => Syntax error

8-143
 8 Command Reference
8.8.1 Bit Right Shift (SFR)

8.8 Data Operations

This section describes the data operation commands that are used to shift, transfer, and initialize data.

8.8.1 Bit Right Shift (SFR)

Motion Programs Sequence Programs
Applicable Applicable

(1) Overview
The SFR command shifts a bit string designated by the leading bit number and bit width the specified number of
shifts to the right.

(2) Format

SFR MB001000 N5 W10 ;

A B C

Item Description Usable Registers

• All bit type registers (Excluding # and C registers)
A Leading bit • The above registers with subscript
• Subscript registers
Number of bits • All integer type registers (Excluding # and C registers)
B
to be shifted • The above registers with subscript
• Subscript registers
C Bit width
• Constants

(3) Programming Examples

SFR command programming examples are shown below.
EXAMPLE
Motion Programs/
Type Ladder Programs
Sequence Programs
B − −

W SFR MB001000 N5 W10;

L − −
F − −

Example: Five bits with MB001005 (bit 5 of MW00100) as the leading bit are shifted three bits to the right.

SFR MB001005 N3 W5 ;

9 5 0
MW00100 1 1 1 1 1 Before
execution

MW00100 0 0 0 1 1

0 entered.

INFO With the SFR command, if the number of shifts is greater than the bit width, all data with the specified bit width will be set
to 0.

8-144
 8.8 Data Operations

8.8.2 Bit Left Shift (SFL)

Motion Programs Sequence Programs
Applicable Applicable

(1) Overview
The SFL command shifts a bit string designated by the leading bit number and bit width the specified number of
shifts to the left.

(2) Format

SFL MB001000 N5 W10 ;

A B C

Item Description Usable Registers

• All bit type registers (Excluding # and C registers)
A Leading bit • The above registers with subscript
• Subscript registers
Number of bits • All integer type registers (Excluding # and C registers)
B
to be shifted • The above registers with subscript
• Subscript registers
C Bit width
• Constants

(3) Programming Examples

SFL command programming examples are shown below.
EXAMPLE
Motion Programs/
Type Ladder Programs
Sequence Programs
B − −

W SFL MB001000 N5 W10;

L − −
F − −

Examples: Ten bits with MB00100A (bit A of MW00100) as the leading bit are shifted five bits to the left.
Command Reference

SFL MB00100A N5 W10 ;

F A
MW00100 1 1 0 0 0 1
3 0
MW00101 0 1 0 1

F A
MW00100 1 0 0 0 0 0 0 is placed in the lower five bits

0 entered. 3 0
MW00101 1 0 0 0 The upper five bits are deleted.

INFO With the SFL command, if the number of shifts is greater than the bit width, all data with the specified bit width will be set
to 0.

8-145
 8 Command Reference
8.8.3 Block Move (BLK)

8.8.3 Block Move (BLK)

Motion Programs Sequence Programs
Applicable Applicable

(1) Overview
The BLK command moves the specified number of words from the beginning of the source register to the begin-
ning of the destination register.

(2) Format

BLK MW00100 DW00100 W10 ;

A B C

Item Description Usable Registers

• All integer type registers (Excluding # and C registers)
Source leading reg-
A • The above registers with subscript
ister
• Subscript registers
Destination leading • All integer type registers (Excluding # and C registers)
B
register • The above registers with subscript
Number of blocks to • Subscript registers
C
be moved • Constants

(3) Programming Examples

BLK command programming examples are shown below.
EXAMPLE
Motion Programs/
Type Ladder Programs
Sequence Programs
B − −

W BLK MW00100 DW00100 W10;

L − −
F − −
Example: MW00100 to MW00109 are moved to MW00200 to MW00209.

BLK MW00100 MW00200 W10;

Source Destination
MW00100 1234H MW00200 1234H
MW00101 1235H MW00201 1235H
MW00102 1236H MW00202 1236H

MW00108 123CH MW00208 123CH

MW00109 123DH MW00209 123DH

INFO As long as the source registers and destination registers are not overlapped, the source data is moved to the destination reg-
isters as it is. If overlapped, the source data may not be moved to the destination registers as it is.

8-146
 8.8 Data Operations

8.8.4 Clear (CLR)

Motion Programs Sequence Programs
Applicable Applicable

(1) Overview
The CLR command clears the specified number of blocks from the leading data clear register, i.e., sets it to 0.

(2) Format

CLR MW00100 W10 ;

A B

Item Description Usable Registers

Leading register • All integer type registers (Excluding # and C registers)
A whose data is • The above registers with subscript
cleared • Subscript registers
• All integer type registers (Excluding # and C registers)
• The above registers with subscript
B Number of blocks
• Subscript registers
• Constants

(3) Programming Examples

CLR command programming examples are shown below.
EXAMPLE
Motion Programs/
Type Ladder Programs
Sequence Programs
B − −

W CLR MW00100 W10;

L − −
F − −

Example: The data of registers from MW00100 to MW00119 are cleared to 0.

CLR MW00100 W20;

Command Reference

0000 MW00100
0
0000 MW00101
0000 MW00102

0000 MW00118
0000 MW00119

8-147
 8 Command Reference
8.8.5 ASCII Conversion 1 (ASCII)

8.8.5 ASCII Conversion 1 (ASCII)

Motion Programs Sequence Programs
Applicable Applicable

(1) Overview
The ASCII command converts the character string specified during command execution into ASCII code and
stores it in the specified register (integer register). Upper and lower case letters can be distinguished from each
other.
The first character and the second character are stored respectively in the lower byte and upper byte of the first
word in order. If the number of characters in the string is odd, the upper byte of the last word in the storage desti-
nation register becomes 0. The number of input characters is up to 32.
Note: The following versions of system software and programming tool MPE720 are required to use an
ASCII command.

MP2000 Series Applicable Ver-

MPE720 Applicable Version Numbers
Machine Controller sion Numbers
MPE720 Ver.5 MPE720 Ver.5.38 or later
All models Ver2.60 or later MPE720 Ver.6.04 or later
MPE720 Ver.6
MPE720 Ver.6.04Lite or later

(2) Format

ASCII ‘ABCDEFG’ MW00200;

A B

Item Description Usable Registers

A Character string ASCII characters
Integer type registers (Excluding # and C regis-
B Storage register number
ters)

The following tables show the characters that can be used in the ASCII command.
(a) Usable Characters
Item ASCII Characters
Alphanumeric Characters a to z, A to Z, 0 to 9
Space,
Symbols
! # $ % & ( ) * + , - . / : ; < = > ? @ [ ] // ] ^ _ ` { | } ˜

(b) Usable Characters

Item ASCII Characters
Single Quotation ‘
Double Quotation “
Double Slash //

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 8.8 Data Operations

(3) Programming Examples

ASCII command programming examples are shown below.
(a) Storing the character string “ABCD” in MW00100 to MW00101
EXAMPLE
ASCII ‘ABCD’ MW00100;

Upper Byte Lower Byte

MW00100 42H(‘B’) 41H(‘A’) MW00100 = 4241H
MW00101 44H(‘D’) 43H(‘C’) MW00101 = 4443H

(b) Storing the character string “ABCDEFG” in MW00100 to MW00103

EXAMPLE
ASCII ‘ABCDEFG’ MW00100;

Upper Byte Lower Byte

MW00100 42H(‘B’) 41H(‘A’) MW00100 = 4241H
MW00101 44H(‘D’) 43H(‘C’) MW00101 = 4443H
MW00102 46H(‘F’) 45H(‘E’) MW00102 = 4645H
MW00103 00H 47H(‘G’) MW00103 = 0047H
 0 will be entered in
the remaining byte.

Command Reference

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 8 Command Reference
8.9.1 Sine (SIN)

8.9 Basic Functions

This section describes the basic function commands, including trigonometric functions, square roots, binary data
conversion, and BCD data conversion.

8.9.1 Sine (SIN)

Motion Programs Sequence Programs
Applicable Applicable

(1) Overview
The Sine command (SIN) returns the sine of integer or real number data as the operation result. Double integer
data cannot be used.

(2) Format

MW00100 = SIN (3000);

A B

Item Description Unit Usable Registers

• All integer and real number type registers (Excluding # and C registers)
Sine value
A − • The above registers with subscript
output
• Subscript registers
• All integer and real number type registers (Excluding # and C registers)
Degree • The above registers with subscript
B Angle input
(°)∗ • Subscript registers
• Constants

* The input units and output results are different for integer and real number data.
• Integer Data
Integer data can be used within a range of -327.68 to 327.67 degrees. The immediately preceding opera-
tion result (integer data) is used as the input, and the operation result is returned in an integer register
(input unit1 = 0.01 degrees). The operation result is multiplied by 10000 before being output.
• Real Number Data
The command will uses the immediately preceding operation result (real number data) as input, and
return the sine in a real number register (unit = degrees).

Example:
Integer Data Real Number Data
Equivalent
MW00102 = SIN ( MW00100 ) ; => 0.5=SIN30° MF00102 = SIN ( MF00100 ) ;
(05000) (03000) (0.5) (30.0)

IMPORTANT If integer data is input outside the range of -327.68 to 327.67 degrees, a correct result cannot be obtained.

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 8.9 Basic Functions

(3) Programming Examples

SIN command programming examples are shown below.
EXAMPLE
Motion Programs/
Type Ladder Programs
Sequence Programs
B − −

W MW00102=SIN(MW00100);

L − −

F DF00202=SIN(DF00200);

Command Reference

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 8 Command Reference
8.9.2 Cosine (COS)

8.9.2 Cosine (COS)

Motion Programs Sequence Programs
Applicable Applicable

(1) Overview
The cosine command (COS) returns the cosine of integer or real number data as the operation result.
Double integer data cannot be used.

(2) Format

MW00100 = COS (3000);

A B

Item Description Unit Usable Registers

• All integer and real number type registers (Excluding # and C registers)
Cosine val-
A – • The above registers with subscript
ue output
• Subscript registers
• All integer and real number type registers (Excluding # and C registers)
Degree • The above registers with subscript
B Angle input
(°)∗ • Subscript registers
• Constants

* The input units and output results are different for integer and real number data.
• Integer Data
Integer data can be used within a range of -327.68 to 327.67 degrees. The immediately preceding opera-
tion result (integer data) is used as input, and the operation result is returned in an integer register (input
unit 1 = 0.01 degrees). The operation result is multiplied by 10000 before being output.
• Real Number Data
The command uses the immediately preceding operation result (real number data) as input, and returns
the cosine in a real number register (unit = degrees).

Example:
Integer Data Real Number Data
Equivalent
MW00102 = COS ( MW00100 ) ; => 0.5=COS60° MF00102 = COS ( MF00100 ) ;
(05000) (06000) (0.5) (60.0)

IMPORTANT If integer data is input outside the range of -327.68 to 327.67 degrees, a correct result cannot be obtained.

(3) Programming Examples

COS command programming examples are shown below.
EXAMPLE
Motion Programs/
Type Ladder Programs
Sequence Programs
B − −

W MW00102=COS(MW00100);

L − −

F DF00202=COS(DF00200);

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 8.9 Basic Functions

8.9.3 Tangent (TAN)

Motion Programs Sequence Programs
Applicable Applicable

(1) Overview
The TAN command uses the specified variable or constant (unit = degrees) as input and returns the tangent in a
real number register.

(2) Format

MW00100 = TAN (1.0);

A B

Item Description Unit Usable Registers

Tangent • All real number type registers (Excluding # and C registers)
A value − • The above registers with subscript
output • Subscript registers
• All real number type registers (Excluding # and C registers)
Degree • The above registers with subscript
B Angle input
(°)∗ • Subscript registers
• Constants

* Example: Calculates the tangent of the input value (θ = 45.0°): TAN (θ) = 1.0

DF00102=TAN(DF00100);
(1.0) (45.0)

The TAN command can use only real number data. If bits, integers, or double integers are specified, an error
IMPORTANT will result at compilation.

(3) Programming Examples

TAN command programming examples are shown below.
EXAMPLE
Motion Programs/
Type Ladder Programs
Sequence Programs
Command Reference

B − −
W − −
L − −

F DF00202=TAN(DF00200);

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8.9.4 Arc Sine (ASN)

8.9.4 Arc Sine (ASN)

Motion Programs Sequence Programs
Applicable Applicable

(1) Overview
The ASN command uses the specified variable or constant as input and returns the arc sine (unit = degrees) in a
real number register.

(2) Format

MF00100 = ASN (0.5);

A B

Item Description Unit Usable Registers

• All real number type registers (Excluding # and C registers)
Angle Degree
A • The above registers with subscript
output (°)∗
• Subscript registers
• All real number type registers (Excluding # and C registers)
Sine value • The above registers with subscript
B −
input • Subscript registers
• Constants

* Example: Calculates the arc sine of the input value (0.5): ASN (0.5) = 30.0 degrees.

MF00202=ASN(MF00200);
(30.0) (0.5)

The ASN command can use only real number data. If bits, integers, or double integers are specified, an error
IMPORTANT will result at compilation.

(3) Programming Examples

ASN command programming examples are shown below.
EXAMPLE
Motion Programs/
Type Ladder Programs
Sequence Programs
B − −
W − −
L − −

F DF00202=ASN(DF00200);

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 8.9 Basic Functions

8.9.5 Arc Cosine (ACS)

Motion Programs Sequence Programs
Applicable Applicable

(1) Overview
The ACS command uses the specified variable or constant as input and returns the arc cosine (unit = degrees) in
a real number register.

(2) Format

MF00100 = ACS (0.5);

A B

Item Description Unit Usable Registers

• All real number type registers (Excluding # and C registers)
Angle Degree
A • The above registers with subscript
output (°)∗
• Subscript registers
• All real number type registers (Excluding # and C registers)
Cosine
• The above registers with subscript
B value −
• Subscript registers
input
• Constants

* Example: Calculates the arc cosine of the input value (0.5): ACS (0.5) = 60.0 degrees.

MF00100 = ACS ( MF00102 ) ;

(60.0) (0.5)

The ACS command can use only real number data. If bits, integers, or double integers are specified, an error
IMPORTANT will result at compilation.

(3) Programming Examples

ACS command programming examples are shown below.
EXAMPLE
Motion Programs/
Type Ladder Programs
Sequence Programs
B − −
Command Reference

W − −
L − −

F DF00202=ACS(DF00200);

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 8 Command Reference
8.9.6 Arc Tangent (ATN)

8.9.6 Arc Tangent (ATN)

Motion Programs Sequence Programs
Applicable Applicable

(1) Overview
The ATN command returns the arc tangent of integer or real number data as the operation result. Double integer
data cannot be used.

(2) Format

MW00100 = ATN (100);

A B

Item Description Unit Usable Registers

• All integer and real number type registers (Excluding # and C registers)
Angle Degree
A • The above registers with subscript
output (°)∗
• Subscript registers
• All integer and real number type registers (Excluding # and C registers)
Tangent
• The above registers with subscript
B value −
• Subscript registers
input
• Constants

* The input units and output results are different for integer and real number data.
• Integer Data
Integer data can be used within a range of -327.68 to 327.67 degrees. The immediately preceding opera-
tion result (integer data) is used as the input, and the operation result is returned in an integer register
(input unit 1 = 0.01 degrees). The operation result is multiplied by 100 before being output.
• Real Number Data
The command uses the immediately preceding operation result (real number data) as input, and returns
the arc tangent in a real number register.

Example:
Integer Data Real Number Data
Equivalent
MW00100 = ATN ( MW00102 ) ; => 45=ATN(1.0) MF00100 = ATN ( MF00102 ) ;
(04500) (00100) (45.0) (1.0)

(3) Programming Examples

ATN command programming examples are shown below.
EXAMPLE
Motion Programs/
Type Ladder Programs
Sequence Programs
B − −

W MW00102=ATN(MW00100);

L − −

F DF00202=ATN(DF00200);

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 8.9 Basic Functions

8.9.7 Square Root (SQT)

Motion Programs Sequence Programs
Applicable Applicable

(1) Overview
The SQT command returns the square root of an integer or real number as the operation result. Double integer
data cannot be used.

(2) Format

MW00100 = SQT (100);

A B

Item Description Usable Registers

• All integer and real number type registers (Excluding # and C registers)
Root value
A • The above registers with subscript
output
• Subscript registers
• All integer and real number type registers (Excluding # and C registers)
• The above registers with subscript
B Data input
• Subscript registers
• Constants

Note: The input units and output results are different for integer and real number data.
• Integer Data
The result is different from that obtained for the mathematical square root, and is calculated using the
following formula:

32768 ∗ sign(B) ∗ B /32768

sign(B): Sign for data input
|B|: Absolute value of data input
That is to say, the output is the result of the mathematically expressed square root multiplied by 32768.
When the input is a negative number, an absolute square root is calculated, and the negative number is
taken as the operation result. The operation error is a maximum of ±2.
• Real Number Data
The SQT command uses the immediately preceding operation result (real number data) as input and
returns the square root in a real number register.

Example:
Input Value Integer Data Real Number Data
Command Reference

Positive MW00100 = SQT ( MW00102 ) ; 64 × 32768 = 1448 MF00100 = SQT ( MF00102 ) ;

value input (01448) (00064) (8) (181) (8.0) (64.0)

Negative MW00100 = SQT ( MW00102 ) ; - 64 × 32768 = -1448 MF00100 = SQT ( MF00102 ) ;

value input (-8.0) (-64.0)
(-01448) (-00064) (8) (181)

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 8 Command Reference
8.9.7 Square Root (SQT)

(3) Programming Examples

SQT command programming examples are shown below.
EXAMPLE
Motion Programs/
Type Ladder Programs
Sequence Programs
B − −

W MW00102=SQT(MW00100);

L − −

F DF00202=SQT(DF00200);

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 8.9 Basic Functions

8.9.8 BCD to Binary (BIN)

Motion Programs Sequence Programs
Applicable Applicable

(1) Overview
The BCD to Binary (BIN) command converts BCD data to binary data.
Only integer data can be used. If a non-BCD data is specified, a correct result cannot be obtained.

(2) Format

MW00100 = BIN (1234H);

A B

Item Description Usable Registers

• All integer and double integer type registers (Excluding # and C registers)
Binary data
A • The above registers with subscript
output
• Subscript registers
• All integer and double integer type registers (Excluding # and C registers)
BCD data • The above registers with subscript
B
input • Subscript registers
• Constants

Note: Example 1
Converted to
MW00101 1 2 3 4 MW00100 0 4 D 2
(1234H) 1234 (decimal)

Example 2
Converted to
MW00101 1 2 3 F MW00100 0 4 D D
(123FH) 1245 (decimal)

INFO If non-BCD data is specified, a correct result cannot be obtained.

(3) Programming Examples

BIN command programming examples are shown below.
Command Reference

EXAMPLE
Motion Programs/
Type Ladder Programs
Sequence Programs
B − −

W MW00101=BIN(MW00100);

L ML00102=BIN(ML00100);

F − −

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 8 Command Reference
8.9.9 Binary to BCD (BCD)

8.9.9 Binary to BCD (BCD)

Motion Programs Sequence Programs
Applicable Applicable

(1) Overview
The Binary to BCD (BCD) command converts binary data to BCD data.
Only integer data can be used. If the binary data is 9999 or higher or is a negative value, a correct result cannot be
obtained.

(2) Format

MW00100 = BCD (1234);

A B

Item Description Usable Registers

• All integer and double integer type registers (Excluding # and C registers)
BCD data
A • The above registers with subscript
output
• Subscript registers
• All integer and double integer type registers (Excluding # and C registers)
Binary data • The above registers with subscript
B
input • Subscript registers
• Constants

Note: Example 1
Converted to
MW00101 0 4 D 2 MW00100 1 2 3 4
1234 (decimal) (1234H)

Example 2

Converted to
MW00101 3 0 3 9 MW00100 C 3 4 5
12345 (decimal) (C345H)

INFO If the binary data is greater than 9999, a correct result cannot be obtained.

(3) Programming Examples

BCD command programming examples are shown below.
EXAMPLE
Motion Programs/
Type Ladder Programs
Sequence Programs
B − −

W MW00101=BCD(MW00100);

L ML00102=BCD(ML00100);

F − −

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 8.9 Basic Functions

8.9.10 Set Bit (S{ })

Motion Programs Sequence Programs
Applicable Applicable

(1) Overview
This command turns ON the specified bit if the logical operation result is true. It does not turn OFF the specified
bit, even if the logical operation result is false.

(2) Format

S { MB001000 } = MB001010 & MB001011;

A B

Item Description Usable Registers

• All bit type registers (Excluding # and C registers)
A Specified bit
• The above registers with subscript
• All bit type registers (Excluding # and C registers)
Logic
B • The above registers with subscript
expression
• Constants

(3) Programming Examples

The Set Bit command (S{ }) programming examples are shown below.
EXAMPLE
Motion Programs/
Type Ladder Programs
Sequence Programs

S{MB001000}=MB001010&
B
MB001011;

W − −
L − −
F − −

Command Reference

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 8 Command Reference
8.9.11 Reset Bit (R{ })

8.9.11 Reset Bit (R{ })

Motion Programs Sequence Programs
Applicable Applicable

(1) Overview
This command turns OFF the specified bit if the logical operation result is true. It does not turn ON the specified
bit, even if the logical operation result is false.

(2) Format

R { MB001000 } = MB001010 & MB001011;

A B

Item Description Usable Registers

• All bit type registers (Excluding # and C registers)
A Specified bit
• The above registers with subscript
• All bit type registers (Excluding # and C registers)
Logic
B • The above registers with subscript
expression
• Constants

(3) Programming Examples

Reset Bit command (R{ }) programming examples are shown below.
EXAMPLE
Motion Programs/
Type Ladder Programs
Sequence Programs

R{MB001000}=MB001010&
B
MB001011;

W − −
L − −
F − −

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 8.9 Basic Functions

8.9.12 Rising Pulse (PON)

Motion Programs Sequence Programs
Not applicable Applicable

(1) Overview
The PON command is ON during one scan of bit output when the bit input status changes from OFF to ON.
The register that stores the previous bit output value is used as a work of PON processing. Set the registers that
are not used for other processes.
Note: The following versions of system software and programming tool MPE720 are required to use PON
commands.

MP2000 Series
Required Version MPE720 Required Version
Machine Controller
MPE720 Ver.5 MPE720 Ver.5.38 or later
All models Ver.2.60 or later MPE720 Ver.6.04 or later
MPE720 Ver.6
MPE720 Ver.6.04 Lite or later

(2) Format

DB000002 = PON (DB000000 DB000001) ;

A B C

Item Description Usable Registers

• Bit type registers (Excluding # and C registers)
A Bit output
• The above registers with subscript
• All bit type registers
B Bit input
• The above registers with subscript
To store the previous bit • Bit type registers (Excluding # and C registers)
C
output value • The above registers with subscript

Command Reference

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 8 Command Reference
8.9.12 Rising Pulse (PON)

(3) Programming Examples

The PON command programming examples are shown below.
(a) Outputting to a Coil
EXAMPLE
DB000002=PON(DB000000 DB000001);

• Ladder equivalent circuit

• Timing chart

DB000000

DB000001

DB000002

One scan One scan

(b) Using a PON Command Combined with an IF Command

EXAMPLE
IF PON(DB000000 DB000001) == 1;
•
•
IEND;

• Ladder equivalent circuit

• Timing chart

DB000000

DB000001

Processing
in IF command

Executed only for one scan Executed only for one scan

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 8.9 Basic Functions

8.9.13 Falling Pulse (NON)

Motion Programs Sequence Programs
Not applicable Applicable

(1) Overview
Falling Pulse (NON) is ON during one scan of bit output when the bit input status changes from ON to OFF.
The register that stores the previous bit output value is used as a work of NON processing. Set the registers that
are not used for other processes.
Note: The following versions of system software and programming tool MPE720 are required to use NON
commands.

MP2000 Series
Required Version MPE720 Required Version
Machine Controller
MPE720 Ver.5 MPE720 Ver.5.38 or later
All models Ver.2.60 or later MPE720 Ver.6.04 or later
MPE720 Ver.6
MPE720 Ver.6.04 Lite or later

(2) Format

DB000002 = NON (DB000000 DB000001) ;

A B C

Item Description Usable Registers

• Bit type registers (Excluding # and C registers)
A Bit output
• The above registers with subscript
• All bit type registers
B Bit input
• The above registers with subscript
To store the previous bit • Bit type registers (Excluding # and C registers)
C
output value • The above registers with subscript

Command Reference

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 8 Command Reference
8.9.13 Falling Pulse (NON)

(3) Programming Examples

NON command programming examples are shown below.
(a) Outputting to a Coil
DB000002=NON(DB000000 DB000001);
• Ladder equivalent circuit
EXAMPLE

• Timing chart

DB000000

DB000001

DB000002

One scan One scan

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 8.9 Basic Functions

(b) Using a NON Command Combined with an IF Command

EXAMPLE
IF NON(DB000000 DB000001) == 1;
ÅE
ÅE
IEND;

• Ladder equivalent circuit

• Timing chart

DB000000

DB000001

Processing
in IF command

Executed only for one scan Executed only for one scan

Command Reference

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 8 Command Reference
8.9.14 ON-Delay Timer (TON): Counting unit: 0.01 second

8.9.14 ON-Delay Timer (TON): Counting unit: 0.01 second

Motion Programs Sequence Programs
Not applicable Applicable

(1) Overview
The TON command counts the milliseconds (in units of 10 ms) when the bit input is ON. When the counted
value is equal to the set value, the bit output will turn ON. If the bit input turns OFF during counting, the timer
operation will stop. After the bit input turns ON again, counting starts again from the beginning (0). In the regis-
ters for counting, the actual count (in units of 10 ms) is stored.
Note: The following versions of system software and programming tool MPE720 are required to use TON
commands.

MP2000 Series
Required Version MPE720 Required Version
Machine Controller
MPE720 Ver.5 MPE720 Ver.5.38 or later
All models Ver.2.60 or later MPE720 Ver.6.04 or later
MPE720 Ver.6
MPE720 Ver.6.04Lite or later

(2) Format

DB000001 = DB000000 & TON (500 DW00001);

A B C D

Item Description Usable Registers

• Bit type registers (Excluding # and C registers)
A Bit output
• The above registers with subscript
• All bit type registers
B Bit input
• The above registers with subscript
• All integer type registers
C Set value • The above registers with subscript
• Constants (0 to 65535 (655.35 s): Every 10 ms)
• All integer type registers
D Register for timer counting
• The above registers with subscript

IMPORTANT • Milliseconds are not counted while the debugging operation is stopped.
Counting starts again from the current counted value after the debugging operation restarts.
• Be sure to designate bit input “DBxxxxxx&.”

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 8.9 Basic Functions

(3) Programming Examples

TON command programming examples are shown below.
EXAMPLE
DB000001=DB000000 & TON (500 DW00001);
↑ Set to 5 seconds.

• Ladder equivalent circuit

• Timing chart

DB000000

DB000001
500

DW00001 5.00 s Ts

㧔Ts = Scan set value㧕

Command Reference

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 8 Command Reference
8.9.15 OFF-Delay Timer (TOF): Counting unit: 0.01 second

8.9.15 OFF-Delay Timer (TOF): Counting unit: 0.01 second

Motion Programs Sequence Programs
Not applicable Applicable

(1) Overview
The TOF command counts the milliseconds (in units of 10 ms) when the bit input is OFF. When the counted
value is equal to the set value, the bit output will turn OFF. If the bit input turns ON during counting, the timer
operation will stop. After the bit input turns OFF again, counting starts again from the beginning (0). In the regis-
ters for counting, the actual count (in units of 10 ms) is stored.
Note: The following versions of system software and programming tool MPE720 are required to use TOF
commands.

MP2000 Series
Required Version MPE720 Required Version
Machine Controller
MPE720 Ver.5 MPE720 Ver.5.38 or later
All models Ver. 2.60 or later MPE720 Ver.6.04 or later
MPE720 Ver.6
MPE720 Ver.6.04Lite or later

(2) Format

DB000001 = DB000000 & TOF (500 DW00001);

A B C D

Item Description Usable Registers

• Bit type registers (Excluding # and C registers)
A Bit output
• The above registers with subscript
• All bit type registers
B Bit input
• The above registers with subscript
• All integer type registers
C Set value • The above registers with subscript
• Constants (0 to 65535 (655.35 s): Every 10 ms)
• All integer type registers
D Register for timer counting
• The above registers with subscript

IMPORTANT • Milliseconds are not counted while the debugging operation is stopped.
Counting starts again from the current counted value after the debugging operation restarts.
• Be sure to designate bit input “DBxxxxxx&.”

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 8.9 Basic Functions

(3) Programming Examples

TOF command programming examples are shown below.
EXAMPLE
DB000001=DB000000 & TOF (500 DW00001);

• Ladder equivalent circuit

• Timing chart

DB000000

DB000001
500

DW00001 0 5.00 s  Ts
㧔Ts = Scan set value㧕

Command Reference

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 8 Command Reference
8.10.1 C-Language Task Control (CTSK)

8.10 C-Language Control Commands

8.10.1 C-Language Task Control (CTSK)
Motion Programs Sequence Programs
Applicable Applicable

(1) Overview
The C-Language Task Control command (CTSK) is used to control operations, including start and stop, of user
C-language tasks.
Motion program/Sequence program User C language tasks

Main program

Start, stop, etc

CTSK
command
User C language
task ‫ޓ‬#1

Subprogram

Start, stop, etc.

CTSK
command
User C language
task‫ޓ‬#2

Note: The following versions of system software and programming tool MPE720 are required to use CTSK
commands.

MP2000 Series Machine

Required Version MPE720 Required Version
Controller
MPE720 Ver.5 MPE720 Ver.5.38 or later
All models Ver. 2.60 or later MPE720 Ver.6.04 or later
MPE720 Ver.6
MPE720 Ver.6.04Lite or later

The Machine Controller MP2000 series embedded C-language package is required to use user C-language tasks.
INFO
For details, refer to Machine Controller MP2000 Series Embedded C-Language Programming Package Development
Guide (manual no.: SIEP C880700 25).

(2) Format

CTSK EXECUTE TYPE, C_NAME, COMPLETE ERROR ERR_CODE;

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 8.10 C-Language Control Commands

I/O I/O
Defini- No. Name Desig- Description
tion nation
1 EXECUTE B-VAL Designates of execution of CTSK function.
Designates the task control type.
1: WAKEUP Wakes up the task from the WAIT status.
Valid only for sequence programs (low scan)
2 TYPE I-REG 2: RESET Exits and deletes the task once, and then creates and starts a task.
Input
The started task then enters the WAIT status.
3: SUSPEND Interrupts the task and moves the task to the SUSPEND status.
4: RESUME Moves the task from the SUSPEND status to the READY status.
Address Designates the leading register number (MW/DW address) of the registers where the
3 C_NAME
input user C-language task name (project name) is stored.
1 COMPLETE B-VAL Completes execution of CTSK function
2 ERROR B-VAL Error occurrence (The contents of error is reported to ERR_CODE.)
Error code
0x00000000 No error
DWG (drawing) type error
0x0000006F
• CTSK function was executed by a sequence program (start drawing)
• TYPE setting error
• TYPE set value is out of the range.
0x00000091 • The task was neither in the WAIT nor WAIT-SUSPEND status when
the task control type WAKEUP was executed.
• The task was neither in the WAIT nor READY status when the task
Output control type SUSPEND was executed.
3 ERR_CODE L-REG 0x00000094 The task designated in C_NAME does not exist.
C_NAME register over the upper/lower limit
0x00000096
Note: This can be detected also when EXECUTE input is OFF.
0xFFFFFFDD μITRON detection error (Invalid ID number)∗
0xFFFFFFCC μITRON detection error (Task not registered)∗
μITRON detection error (Illegal object status)∗
0xFFFFFFC1 • The task is in DORMANT status.
• RESUME was commanded to a task that was not in SUSPEND status.
μITRON detection error (Context error)∗
0xFFFFFFBB
• Cannot issue from the task independent context.
0xFFFFFFB7 μITRON detection error (Queue overflow)∗
* The μITRON detection errors will not occur normally because the system manages them.
Note: 1. The EXECUTE input is not used for the signal rising edge, but treated as level. This is to implement task
control in every scan cycle.
Command Reference

2. The task controls except for RESET can be executed by motion programs, sequence programs for high-
speed scan drawing, and sequence programs for low-speed scan drawing. They cannot be executed by
sequence programs for start drawing.
3. The task control type RESET can be executed only by sequence programs for low-speed scan drawing.

(3) Programming Examples

A CTSK command programming example is shown below.
EXAMPLE

ASCII 'ctask1' DW00010; "User C-language task name

DW00013 = 0000H; "NULL code
DW00002 = 1; "WAKEUP
DB000001 = 1; "Execute the task control
CTSK DB000001 DW00002, DA00010, DB000002 DB000003 DL00004;

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 8 Command Reference
8.10.2 C-Language Function Call (CFUNC)

8.10.2 C-Language Function Call (CFUNC)

(1) Overview
The C-Language Function Call command (CFUNC) calls the user C-language task.

Motion program/Sequence program User C-language function

Main program

Call
CFUNC
command

User C-language
Subprogram function #1

Call
CFUNC
command

User C-language
function #2

Note: The following versions of system software and programming tool MPE720 are required to use
CFUNC commands.

MP2000 Series
Required Version MPE720 Required Version
Machine Controller
MPE720 Ver.5 MPE720 Ver.5.38 or later
All models Ver.2.60 or later MPE720 Ver.6.04 or later
MPE720 Ver.6
MPE720 Ver.6.04Lite or later

The Machine Controller MP2000 series embedded C-language package is required to use user C-language tasks.
INFO
For details, refer to Machine Controller MP2000 Series Embedded C-Language Programming Package Development
Guide (manual no.: SIEP C880700 25).

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 8.10 C-Language Control Commands

(2) Format

CFUNC EXECUTE OPTION1 OPTION2, C_NAME C_ARG1 C_ARG2,

COMPLETE ERROR C_RETURN;

I/O
I/O
Defini- No. Name Description
Designation
tion
1 EXECUTE B-VAL Designates execution of CFUNC function
2 OPTION1 I-REG Option designation 1 (For future use)
3 OPTION2 I-REG Option designation 2 (For future use)
Designates the leading register No. (MW/DW address) of the registers
Input 4 C_NAME Address input
where the user c-language function name is stored.
Designates the leading register No. (MW/DW address) to be set for the
5 C_ARG.1 Address input
user C-language function 1st argument.
Designates the leading register No. (MW/DW address) to be set for the
6 C_ARG.2 Address input
user C-language function 2nd argument.
1 COMPLETE B-VAL Completes execution of the CFUNC function
Error occurrence
• C_NAME, C_ARG.1, C_ARG.2 register over the upper/lower limit
(The sizes of C_ARG.1 and C_ARG.2 are not taken into consider-
Output 2 ERROR B-VAL
ation.)
Note: Detected also when the EXECUTE input is OFF.
• The function designated in C_NAME does not exist.
3 C_RETURN L-REG Stores the return value of user C-language function as it is.

(3) Programming Examples

The CFUNC command programming example is shown below.
EXAMPLE

ASCII 'cfunc1' DW00010; "User C-language function name

DW00013 = 0000H; "NULL code
DB000000 = 1; "Execute the user C-language function
CFUNC DB000000 0 0,DA00010 DA00002 DA00004, DB000003 DB000004
DL00016; Command Reference

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 9
Engineering Tool MPE720

This chapter describes the engineering tool MP720, for creating and editing motion programs
and sequence programs.

9.1 Motion Editor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2

9.1.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-2
9.1.2 Names and Descriptions of Motion Editor Window Components - - - - - - - - - - - - - - - - 9-4

9.2 Command Input Assistant Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-6

9.2.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-6
9.2.2 Motion Command Assist Dialog Box Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-8

9.3 Program Execution Registration Function - - - - - - - - - - - - - - - - - - - - - - - 9-12

9.3.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-12
9.3.2 Program Execution Registry Screen Dialog Box Details - - - - - - - - - - - - - - - - - - - - - 9-13

9.4 Debug Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-15

9.4.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-15
9.4.2 Motion Editor Window during Debugging - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-16

9.5 Motion Task Manager - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-22

9.5.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-22
9.5.2 Motion Task Manager Window Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-23

9.6 Drive Control Panel - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-24

9.6.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-24
9.6.2 Drive Control Panel Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-26
Engineering Tool MPE720

9.7 Test Run Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-28

9.7.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-28
9.7.2 Test Run Window Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-29

9.8 Axis Status and Alarm Monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-31

9.8.1 Overview - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-31
9.8.2 Monitor Window Details - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-33

9-1
 9 Engineering Tool MPE720
9.1.1 Overview

9.1 Motion Editor

This section describes the Motion Editor.

9.1.1 Overview
The Motion Editor is a programming tool that is required to create and edit motion programs and sequence pro-
grams.
It has the full range of functions required to create and edit these programs, including text editing, compiling
(saving), debugging, and monitoring.

9-2
 9.1 Motion Editor

There are two ways to start the Motion Editor:

• Double-click the program in the Motion subwindow.

• Click the icon on the toolbar of the Engineering Manager window.

Engineering Tool MPE720

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 9 Engineering Tool MPE720
9.1.2 Names and Descriptions of Motion Editor Window Components

9.1.2 Names and Descriptions of Motion Editor Window Components

e) f)

a)

b)

c) d)

a) Group selection (Only for motion programs)

The group names set in the Group Definition dialog box are displayed in the drop-down menu.
Select a group for which the editing program is to be used.

b) Program editing window

A text editor for programming.

c) Line
Displays program text lines.

d) Block
Displays program blocks.
When an alarm is generated in the motion program, the block where the alarm is generated is reported.

9-4
 9.1 Motion Editor

e) Tool icons
The following table shows the icons used to edit programs.
Key
Function Icon Description
Operation
Deletes the selected range and stores the deleted range in the Clip-
Cut Ctrl + X
board.
Copy Ctrl + C Reproduces the selected range in the Clipboard.

Paste Ctrl + V Pastes the materials stored in the Clipboard.

Position Monitor − Displays the Position Monitor dialog box.

New File
− Opens a new motion program file.
(Motion programs)
New File
− Opens a new sequence program file.
(Sequence programs)
Open − Displays the File List dialog box.
Saves the editing program to the hard disk of the computer.
Ctrl + S During online editing, the editing program will be not only be
Save
saved to the hard disk but also downloaded (transferred) to the
Machine Controller.
Consecutively executes the following operations.
• Saves the editing program to the hard disk of the computer.
• Downloads the editing program to the Machine Controller.
Save & Save to Flash −
• Saves the downloaded program to the flash memory.
All programs downloaded to the Machine Controller will be saved
to the flash memory.
Print Ctrl + P Prints out the editing program.

Motion Command Assist F12 Displays the Motion Command Assist dialog box.
Displays the Position Teach dialog box.
− The work coordinate system current position of the axis desig-
Position Teach
nated in the Position Teach dialog box will be inserted on the
Motion Editor.
Add/Not Add a Used to select whether or not to allow use of the ENT key to add a
−
Semicolon semicolon (;).
Open Error List Dialog
− Displays the list of save errors (compile errors).
Box
Used to select whether or not to scroll the screen in line with the
Automatic Scroll −
executing line of the program during program execution.
Engineering Tool MPE720

f) Monitor tab and status bar

Used to monitor programs.
Key
Button/
Function Opera- Description
Status Bar
tion
Sets whether or not to monitor programs.
Monitoring Tab − When the moving button is selected ( ), the exe-
cuting program line is displayed in real time.
Monitoring Status
− Indicates the program monitoring status.
Bar

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 9 Engineering Tool MPE720
9.2.1 Overview

9.2 Command Input Assistant Function

This section describes the motion command input assistant function.

9.2.1 Overview
The command input assistant function helps a programmer to create a required motion program.
The motion commands are written in a textual language called motion language, and each command needs to be
written in the specified format. The Motion command assist dialog box is provided to make it easy to correctly
select and code the commands.
The following versions of MPE720 support the command input assistant function.
MPE720 Supported Version
MPE720 Ver.5 Not supported
Ver.6.04 or later
MPE720 Ver.6
Ver.6.04 Lite or later

Note: The command input assistant function can be used for all models of MP2000-series Machine Controllers.

The Motion command assist dialog box can be opened from the Motion Editor window. There are two ways to
open the Motion command assist dialog box, as described on the next page.

9-6
 9.2 Command Input Assistant Function

• Select Motion command assist from the pop-up menu when you right-click the Motion Editor window,
or press the function key F12.

• From the right-click menu, select Insert motion command, then select the command you want to insert.

Engineering Tool MPE720

9-7
 9 Engineering Tool MPE720
9.2.2 Motion Command Assist Dialog Box Details

9.2.2 Motion Command Assist Dialog Box Details

a)
b)
c) f)

d)

e)

g) h) i)
a) Select command (Command options)
Click the arrow to open the drop-down menu that contains the commands that can be inserted.

b) Command format
Displays the programming format of the selected command.

EXAMPLE

MOV: Positioning

+: Add

9-8
 9.2 Command Input Assistant Function

c) Axis number (Number of axes to be controlled)

For axis move commands, the number of axes to be controlled can be selected in the range from 1 to the num-
ber of axes set in the Group Definition dialog box.
When the number of axes to be controlled is fixed, the fixed number of axes is displayed in the shaded box
(unavailable option).
EXAMPLE

MOV: Positioning ••• Select the number of axes to be controlled.

EXM: External positioning ••• The number of axes to be controller is fixed.

d) Set to the arguments

Set the parameters for the selected command. The setting items are listed below.
Item Description
Displays the parameter names to be set as the arguments. The displayed parameter
Argument names cannot be edited.
For the arguments that can be omitted, [Can be omitted] is displayed.
Axis Displays the logical axis names. Change the logical axes as required.
Setting value Enter a constant or register as the set value.
Unit Displays the parameter setting unit. The setting units cannot be edited.

The logical axis names displayed in the Axis column are defined in the Group Definition dialog box.
The setting units in the Unit column are displayed according to the motion parameter settings of each axis. If
a setting unit has not been specified, the corresponding Unit cell is displayed in yellow. Place the mouse
pointer on the Unit cell and click the mouse. The help balloon will pop up. Follow the help balloon messages
to set the motion parameters.
When the selected command requires neither the settings of number of axes to be controlled nor parameters,
the program input field will appear as shown below. Enter the command block referring to the command for-
mat displayed above.
Engineering Tool MPE720

9-9
 9 Engineering Tool MPE720
9.2.2 Motion Command Assist Dialog Box Details

e) Comment check box and Comment input field

Selecting the Comment check box allows you to insert a comment above the command line. When the Com-
ment check box is cleared, the comment input field will be shaded and comments cannot be inserted.

INFO The comment inserting position cannot be changed.

f) Update button
Click the Update button to refresh the display in the Motion command assist dialog box.

INFO After changing the setting of a unit related motion parameter, click the Update button to refresh the display.

g) Insert button
Click the Insert button to insert the command edited in the Motion command assist dialog box at the
pointer position in the Motion Editor window.

h) Close button
Click the Close button to close the Motion command assist dialog box.

9-10
 9.2 Command Input Assistant Function

i) Help button
Click the Help button to display a description of the selected command.

Jumps to the help

page of the
selected command

Engineering Tool MPE720

9-11
 9 Engineering Tool MPE720
9.3.1 Overview

9.3 Program Execution Registration Function

This section describes the program execution registration function of M-EXECUTOR.

9.3.1 Overview
The created motion programs and sequence programs need to be registered in the MP2000 system to run. The
Program execution registry screen dialog box is provided to make it easy to register the created motion pro-
grams and sequence programs in the MP2000 system.

The following versions of MPE720 support the program execution registration function.
MPE720 Supported Version
MPE720 Ver.5 Ver5.38 or later
Ver6.04 or later
MPE720 Ver.6
Ver6.04 Lite or later

There are two ways to open the Program execution registry screen dialog box:

• Click the icon in the Motion Editor window.

• Open the M-EXECUTOR details window from the Module Configuration Definition window, and then click
the icon.

9-12
 9.3 Program Execution Registration Function

9.3.2 Program Execution Registry Screen Dialog Box Details

a) b)

c) d)

e)

h) i) f) g)
a) Program execution registry number
Select the program execution registration number.
Programs will be executed in order, from the smallest program execution registration number.

b) Program number
Set the program number.

c) Execution type
Select a program execution type from the drop-down menu:
Program to be
Execution Type Execution Conditions
Executed
Sequence program At power ON
(Start) (Executed once at power ON.)
Sequence program Cyclic start
Sequence programs
(L scan) (Executed in low-speed scan cycle.)
Sequence program Cyclic start
(H scan) (Executed in high-speed scan cycle.)
When the Program operation start request bit of con-
trol signal turns ON.
Motion program Motion programs
Engineering Tool MPE720

(Executed when the Program operation start request

bit turns ON.)

d) Specification
Select the program designation method: Direct or Indirect
The applicable designation methods differ depending on whether the program is a motion program or a
sequence program.
Designa-
Motion Sequence
tion Description
Programs Programs
Method
Designate the program number.
Direct Applicable Applicable
Example: MPM001, SPM002
Designate the register number that stores the program number.
Indirect Applicable N/A Example: OW0C0C (When 1 is stored in OW0C0C, MPM001 is exe-
cuted.)

9-13
 9 Engineering Tool MPE720
9.3.2 Program Execution Registry Screen Dialog Box Details

e) Register allocation
Allocate the registers. The allocated registers exchange data in real time with the M-EXECUTOR control
registers. I, O, and M registers can be allocated.

f) Status, Control signal ( icons)

Click the corresponding icon to display the bit assignment of the status flag or control signal.

g) Allocation DISABLE
Click to select or clear the corresponding check box to enable or disable the allocated register. When the
check box is cleared, the allocated register is enabled.

h) List button
Click the List button to display the M-EXECUTOR (list) window.

i) Delete button
Delete the definition.

9-14
 9.4 Debug Function

9.4 Debug Function

This section describes the debug function.

9.4.1 Overview
The debug function debugs motion programs and sequence programs.
Various functions including program pause, break point setting, and step-by-step execution (single block execu-
tion) are provided to check the created program operation.
During debugging, the executing program line is highlighted on the screen as shown below.

Note: The debug function can be used with all MP2000-series Machine Controller models.

To start debugging, connect the MPE720 online with the Machine Controller, and click the icon on the
Motion Editor window.
During debugging, the executing program line is highlighted on the screen as shown below.

　During debugging
　Normal run status

Highlighted

INFO Before debugging, the programs must be registered in the Program execution registry screen dialog box.
Engineering Tool MPE720

9-15
 9 Engineering Tool MPE720
9.4.2 Motion Editor Window during Debugging

9.4.2 Motion Editor Window during Debugging

a)

b)

a) Executing program line

The executing program line is highlighted in blue.
If a motion program alarm is generated in the executing program line, the executing program line is high-
lighted in red. Refer to 10.2.4 Motion Program Alarm Codes for information on motion program alarms.

b) Tool icons and function keys

The following table shows the icons, menu commands, and function keys to be used for a debug operation.
Key
Motion Sequence
Function Icon Oper- Description
Programs Programs
ation
Debug mode F1 Starts the program in debug mode. Available Available

Cancels the debug mode. The program continuously runs

Normal run mode F11 Available Available
in normal run mode.
Shift execution
F6 Shifts the execution start line (start point). Available Available
start point
Set/Delete break Sets or deletes a break point. A break point is described in
F7 Available Available
point the program.
Executes one command block. For an MSEE or SSEE
Step in F4 command, execution will jump to the start line of the Available Available
specified subprogram.
Executes one command block. For an MSEE or SSEE
Step over F5 command, executes the specified subprogram and then Available Available
executes the next block of the MSEE or SSEE command.
Continuously executes the motion program lines in debug
Execute F8 Available Available
mode until the break point.

Break F10 Pauses motion program execution in debug mode. Available Available

Forced end F2 Forcibly stops motion program execution. Available N/A

Update current
− Updates the current position coordinates. Available N/A
position
Setting the
Sets the parallel number, nesting level, and task of the
execute task − Available Available
selected subprogram.
MSEE Call Stack
Enables or disables the break point.
Set/Delete
− − This command can be selected from the Debug menu or Available Available
Breakpoint
the drop-down menu that will appear when right clicking.
Adds the selected register to the Watch Page of Quick
Reference.
Add Register − − Available Available
This command can be selected from the drop-down menu
that will appear when right clicking.

9-16
 9.4 Debug Function

• Debug mode
Click this icon to switch the operation mode to the debug mode and start debugging from the first line of the
program.

The debug execution line is in the first line.

INFO The debug start line when the operation mode is switched to the debug mode differs, depending on whether you are using
the motion program or the sequence program:
 Motion Programs
• When debug mode is selected for a motion program that is not running
Debugging starts from the first line of the program, as shown in the above example.
• When debug mode is selected for a running motion program
When the mode is switched to the debug mode while an axis is moving, debugging will start from the next command
block after the axis movement completes.
 Sequence Programs
• When debug mode is selected for a sequence program that is not running.
Debugging is not possible in this case.
• When debug mode is selected for a running sequence program.
Debugging starts from the first line of the program, as shown in the above example.

• Normal run mode

Click this icon to switch the operation mode from debug mode to normal run mode. The debugging will be
cancelled and program execution will restart from the currently executing line.
All the break points that have been set will be deleted.

Restarts from the program line in execution. Engineering Tool MPE720

• Shift start point

Shift the executing program line to the selected line.

2. Click the 　　 icon.

3. The executing program line is shifted.

1. Click the line to be executed. The line MOV [A1]90000 will not be
executed.

9-17
 9 Engineering Tool MPE720
9.4.2 Motion Editor Window during Debugging

• Set/Delete break point

Click this icon to set a break point. A maximum of four break points can be set.
Clicking the button of the line for which a break point has been already set will delete the break point.

• Step in
Click this icon to execute one program line.
When this icon is clicked while an MSEE or SSEE command block is being executed, execution will jump to
the first line of the called subprogram.

MPM001
MPS002

1. Click the 　 icon.

2. The first line of the called subprogram will be executed.

• Step over
Click this icon to execute one program line.
When this icon is clicked while an MSEE or SSEE command block is being executed, the called subprogram
will be executed and then execution will proceed to the next block of the MSEE or SSEE command block.

MPM001
MPS002

1. Click the 　 icon.

2. The called subprogram is executed.

3. The next block of the MSEE of SSEE command block

will be executed.

INFO More than one process can be specified as the processing unit for execution of the Step in and Step over by using SNGD
and SNGE commands.

The command blocks SNGD;

enclosed with SNGD
and SNGE constitute Command blocks to be the processing unit
the processing unit for execution of step in or step over
for execution of step
in or step over. SNGE;

9-18
 9.4 Debug Function

• Execute
Click this icon to continuously execute program lines. When the break point is reached, the execution will
stop.

1. Set a break point. 2. Click the icon.

3. The execution stops at the break

point.

• Break
Click this icon to pause a program in debug mode. To restart the program, click the Execute icon.

1. Start the motion program. 2. Click the icon.

3. The motion program stops.

• Forced end
Click this icon to forcibly end the execution of a program in debug mode.

The lines after the currently executing line will not be

executed.

• Update current position

This icon has the same function as the PLD command. While this icon is selected, the operation of the PLD
command is processed by the system when using the Step in, Step over, and Execute icons.
Refer to 8.3.3 Program Current Position Update (PLD) for details on PLD command.
Engineering Tool MPE720

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 9 Engineering Tool MPE720
9.4.2 Motion Editor Window during Debugging

• Setting the execute task (Only for subprograms)

Set the subprogram information used for monitoring or debugging subprograms. When the Setting the exe-
cute task command is selected, the currently running main programs will be displayed. Select the main pro-
gram that calls the subprogram.

• MSEE call stack (Only for subprograms)

Set more detailed subprogram information than the Setting the execute task command.

Item Description
Main program
Set the main program number that calls the subprogram.
number
Set the parallel number of the main program that calls the subprogram.
Example: Set 3 when monitoring and debugging subprogram MPS004.

PFORK Label1 Label2 Label3 Label4;

MPM001 Label1: ̌ Parallel 1
MSEE MPS002;
JOINTO LabelX;
Label2: ̌ Parallel 2
MSEE MPS003;
Fork number JOINTO LabelX;
Label3: ̌ Parallel 3
MSEE MPS004;
JOINTO LabelX;
Label4: ̌ Parallel 4
MSEE MPS005;
JOINTO LabelX;
LabelX: PJOINT;
㨯㨯㨯㨯
END;

Set the nesting level of the subprogram call.

Example: Set 2 when monitoring and debugging subprogram MPS003.

MPM001
MW0000=1; MPS002 (Nest 1)
MSEE MPS002;
Nest number MW0000=2; MPS003 (Nest 2)
㨯㨯㨯㨯
MSEE MPS003; MW0000=3;
㨯㨯㨯㨯
㨯㨯㨯㨯
END; 㨯㨯㨯㨯
㨯㨯㨯㨯 㨯㨯㨯㨯
RET; RET;

9-20
 9.4 Debug Function

• Set/Delete Breakpoint
Enables or disables the break point.

Break point enabled

(Displayed in yellow)

Break point disabled

(Displayed in white)

The menu that pops up when right-clicking on the

Debug menu
Motion Editor window.

• Add Register
The register displayed on the Motion Editor can be registered to the Watch Page of Quick Reference.
The values of the registered registers can be monitored on the Watch Page.

1. Right-click on the register to be monitored. Select Add Register from the pop-up menu.

Engineering Tool MPE720

2. The register will be added to the Watch Page of Quick Reference.

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 9 Engineering Tool MPE720
9.5.1 Overview

9.5 Motion Task Manager

This section describes the Motion Task Manager.

9.5.1 Overview
The Motion Task Manager is used to view the list of motion tasks, and to monitor task execution status.
The running tasks and idle tasks are displayed in a tree structure in the Motion Task Manager window.

Note: The Motion Task Manager can be used with all MP2000-series Machine Controller models.

To start the Motion Task Manager, select View - Motion Task Manager in the Motion Editor window.

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 9.5 Motion Task Manager

9.5.2 Motion Task Manager Window Details

a) b)

a) Task execution status is displayed in a tree structure

The execution status of each motion program and sequence program is displayed in a tree structure.
Double-click the program to open the corresponding program in the Motion Editor window.

b) Program status display

The program status is displayed.
Display Status
Pause The program execution is paused.
Debug Mode The program is being debugged.
Debug Mode: Suspend The program debugging is suspended at a break point.
Running The program is running.
An alarm has occurred in the motion program.
Place the mouse pointer on the program name to view the alarm details.

Alarm generated

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 9 Engineering Tool MPE720
9.6.1 Overview

9.6 Drive Control Panel

This section describes the Drive Control Panel.

9.6.1 Overview
To execute the created motion program, the program needs to be registered in the MP2000 system and the pro-
gram start request must be issued using the user application.
If you want to run the created motion program before creating the user application, use the Drive control panel
to carry out the program trial run.
Commands such as program start request, stop request, and alarm reset request can be issued from the Drive con-
trol panel.
The following versions of MPE720 support the Drive control panel.
MPE720 Supported Version
MPE720 Ver.5 Ver. 5.38 or later
Ver. 6.04 or later
MPE720 Ver.6
Ver. 6.04 Lite or later

Note: The Drive control panel does not have the break point setting or step-by-step execution (single block
execution) functions that the debug function has.

CAUTION
• Be sure the area is safe before starting a motion program by using the Drive control panel.
The axes will start moving as the motion program runs.
• Do not overwrite the motion program control register by using a sequence program or ladder program.
Doing so may disable the control from the Drive control panel.
• Do not simultaneously execute axes move commands for one axis from more than one program.
Doing so may result in an adverse movement of the axis.

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 9.6 Drive Control Panel

Click the icon in the Motion Editor window to start the Drive control panel.

Engineering Tool MPE720

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 9 Engineering Tool MPE720
9.6.2 Drive Control Panel Details

9.6.2 Drive Control Panel Details

a)
b)
c)
d)
e)
f)

g)

h)

a) Program exec registry No.

The program execution registry number of the program for trial run is displayed.
The program execution registry number must be set in the Program execution registry screen dialog box of
the M-EXECUTOR in advance.

b) Program number
The program number for trial run is displayed.
The program number must be set in the Program execution registry screen dialog box of M-EXECUTOR
in advance.

c) START button
Click the START button to start the trial run.

d) PAUSE button
Click the PAUSE button to pause the trial run.

e) STOP button
Click the STOP button to stop the trial run.

f) ALMRST button
Click the ALMRST button to reset the alarm after an alarm has been generated.

g) Trial run status display

The corresponding status indicator LED lights up to indicate the trial run status.
• RUNNING: Lights up when the START button is clicked.
• PAUSING: Lights up when the PAUSE button is clicked.
• STOPPED: Lights up when the STOP button is clicked.
• ALARM: Lights up when a program alarm occurs.
• PRGNOERR: Lights up when a program number error occurs (the program number is outside the
allowable range).

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 9.6 Drive Control Panel

h) Display button
Click the Display button to open the Error information screen window. Refer to 10.2.4 Motion Program
Alarm Codes for details on the errors and the Error information screen window. An example of an error
information window is shown below.

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 9 Engineering Tool MPE720
9.7.1 Overview

9.7 Test Run Function

This section describes the Test Run function.

9.7.1 Overview
The Test Run function is used to perform a test run of axes that are connected to the MP2000-series Machine
Controller from the Test Run window. The servo ON, servo OFF, JOG operation, and STEP commands can be
executed without using programs.
The following versions of MPE720 support the Test Run function.
MPE720 Supported Version
MPE720 Ver.5 Not supported
Ver6.04 or later
MPE720 Ver.6
Ver6.04 Lite or later

Note: The Test Run function can be used with all MP2000-series Machine Controller models.

CAUTION
• Make sure the area is safe before moving the axes by using the Test Run function.
• Before starting operation, be sure to prepare emergency stop measures to stop axis movement whenever
necessary.
• Before moving the axes by using the Test Run function, stop all ladder programs and motion programs
that are being executed.

Double-click Test run in the System subwindow to open the Test Run window.

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 9.7 Test Run Function

9.7.2 Test Run Window Details

a)

b)
c)

d)

g)

Switch by clicking the Jog or Step tab.

a)

b)

c)

d)
e)
f)

h) Engineering Tool MPE720

a) Axis
Select the axis for the test run.

b) Servo Enable, Alarm

The servo status (Enabled [servo ON] or Disabled) [servo OFF] and the axis alarm status (Alarm or No
Alarm) are displayed.

c) Enable, Disable, and Monitor buttons

Click the Enable button to turn ON the servo, click the Disable button to turn it OFF. Special care must be
taken for this operation because it will change the motion setting parameter.
Click the Monitor button to display the details of an axis alarm.

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 9 Engineering Tool MPE720
9.7.2 Test Run Window Details

d) Speed reference
Set the speed reference value. Special care must be taken for this operation because it will change the motion
setting parameter.

e) Step distance (In the Step tab page)

Set the step movement amount for step operation. Special care must be taken for this operation because it will
change the motion setting parameter.

f) Direction Setting (In the Step tab page)

Click the Direction Setting button. The Direction Setting dialog box used to set the axis operation direction
for step operation will appear.
Select Forward or Reverse of the Direction to specify the axis operation direction. Special care must be
taken for this operation because it will change the motion setting parameter.
A repetitive run for step operation can also be set and specified in this dialog box.

g) Forward and Reverse buttons (In the Jog tab page) for JOG operation
Click the Forward or Reverse button to start JOG operation.
The specified axis keeps moving in the corresponding direction as long as the button is being pressed.
The axis will stop when the button is released.

h) Run and Stop buttons (In the Step tab page) for STEP operation
Click the Run button to start one step operation of the specified axis. Unlike with the jog operation, the but-
ton does not need to be continuously pressed.
When the Repetitive running check box is selected in the Direction Setting dialog box, the step operation is
repeated for the specified number of times, and then the axis will stop. During a repetitive run, the axis can be
stopped by clicking the Stop button.

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 9.8 Axis Status and Alarm Monitor

9.8 Axis Status and Alarm Monitor

This section describes the axis operation monitor and axis alarm monitor.

9.8.1 Overview
The Axis Monitor displays the operation status of the axes connected to the MP2000-series Machine Controller.
The axis status (Ready/Servo Enable [Servo ON], Alarm/Warning, Prof. Comp [Distribution Completed]/In
Position [Positioning Completed], and Motion Command) and the user selected monitoring parameter status
are displayed onscreen.
The Alarm Monitor displays the alarm information of the axes connected to the MP2000-series Machine Controller.
The following MPE720 versions support the Axis Monitor and Alarm Monitor.
MPE720 Supported Version
MPE720 Ver.5 Not supported
Ver. 6.04 or later
MPE720 Ver.6
Ver. 6.04 Lite or later

Note: The Axis Monitor and Alarm Monitor functions can be used with all MP2000-series Machine Controller
models.

Axis Monitor Alarm Monitor

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 9 Engineering Tool MPE720
9.8.1 Overview

Double-click Axis monitor or Alarm monitor in the System subwindow to start the axis monitor or alarm mon-
itor.

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 9.8 Axis Status and Alarm Monitor

9.8.2 Monitor Window Details

(1) Axis Monitor

a) b) c) d) e)

f)

g) h)

a) Circuit
Select the circuit whose motion monitoring parameters are to be displayed.

b) Monitoring cycle selection

Select the monitoring cycle.

c) Pausing/Starting monitoring
Click this button to start or pause monitoring.
Engineering Tool MPE720

d) Axis alarm monitor

Click this icon to open the Alarm Monitor window.

e) Refresh
Click this icon to refresh the display to the latest axis status.

f) Axis status
Ready/Servo Enable (Servo ON), Alarm/Warning, Prof. Comp (Distribution Completed)/In Position
(Positioning Completed), Motion Command status are displayed. The display will change according to the
status.

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 9 Engineering Tool MPE720
9.8.2 Monitor Window Details

g) Motion monitoring parameter selection

A maximum of eight motion monitoring parameters can be selected.
Machine coordinate reference position (APOS), Position error (PERR), Feedback speed, and Feedback
torque/thrust are displayed as defaults.
Click the button, and select a desired monitoring parameter from the Monitor drop-down
menu in the Monitor Parameter dialog box that will appear as shown below.

Monitoring parameter in Monitor pull-down list

Monitoring Parameters Register Unit
Machine coordinate target position
ILxx0E Reference unit
(TPOS)
Target position (CPOS) ILxx10 Reference unit
Machine coordinate system position
ILxx12 Reference unit
(MPOS)
CPOS for 32bit ILxx14 Reference unit
Machine coordinate feedback position
ILxx16 Reference unit
(APOS)
Machine coordinate latch position (LPOS) ILxx18 Reference unit
Position error (PERR) ILxx1A Reference unit
POSMAX number of turns ILxx1E rev
Speed reference output monitor ILxx20 pulse/s
Feedback speed ILxx40 Selected speed unit
Feedback torque/thrust ILxx42 Selected torque unit

INFO If you want to set a monitoring parameter not included in the Monitor pull-down list, directly enter the register number
(IW8000 for example) in the dialog box.

h) Monitoring parameter status

The status of the selected monitoring parameters is displayed.

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 9.8 Axis Status and Alarm Monitor

(2) Alarm Monitor

a) b)

c)

a) Manually refresh
Click this icon to refresh the alarm and warning information.

b) Pausing/Starting monitoring
Click this button to start or pause monitoring.

c) Alarm and warning display

Displays alarm and warning status.
Display Axis Status

(Blue) No alarm or warning occurs.

(Red) An alarm is occurring.

(Yellow) A warning is occurring.

Engineering Tool MPE720

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 10
Troubleshooting

This chapter describes the causes of errors in motion programs and sequence programs, and
suggests corrective actions.

10.1 Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2

10.1.1 Basic Flow of Troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-2

10.2 Troubleshooting for Motion Programs - - - - - - - - - - - - - - - - - - - - - - - - - 10-3

10.2.1 Error Investigation Flow - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3
10.2.2 Problem Starting a Motion Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-4
10.2.3 Confirming the Alarm Code - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-9
10.2.4 Motion Program Alarm Codes - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-15

10.3 Troubleshooting for Sequence Programs - - - - - - - - - - - - - - - - - - - - - 10-17

10.3.1 Error Investigation Flow - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-17
10.3.2 Problem Starting a Sequence Program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-18

Troubleshooting

10-1
 10 Troubleshooting
10.1.1 Basic Flow of Troubleshooting

10.1 Troubleshooting
This section describes troubleshooting methods, and provides a list of motion program and sequence program
errors.

10.1.1 Basic Flow of Troubleshooting

When a problem occurs, it is important to quickly find the cause of the problem and get the system running again
as soon as possible. The basic troubleshooting flow is illustrated below.

Step 1 Visually confirm the following items.

• Machine movement (or status if stopped)
• Power supply
• I/O device status
• Wiring status
• Indicator status (LED indicators on each Module)
• Switch settings (e.g., DIP switches)
• Parameter settings and program contents

Monitor the system to see if the problem changes in

Step 2
response to the following operations.
• Switching the Controller to STOP status
• Resetting alarms
• Turning the power supply OFF and ON again.

Determine the location of the cause from the results

Step 3
of steps 1 and 2.
• Controller or external?
• Sequence control or motion control?
• Software or hardware?

10-2
 10.2 Troubleshooting for Motion Programs

10.2 Troubleshooting for Motion Programs

10.2.1 Error Investigation Flow
If the cause of error may be related to the motion program, refer to the following flowchart to troubleshoot.

START

Do you have a problem YES Problem starting a

starting a motion program? motion program

NO

Refer to 10.2.2 Problem Starting a

Motion Program.

Is ERR or ALM of the YES System error or

LED on the front basic operation error
module lit? System error or
operation error
NO

Refer to the user’s manual

for the Machine
Controller being used to
troubleshoot errors.

Is any alarm reported to the YES

motion monitoring parameter Motion module fault
IL04 (Alarm) ?

NO

Display the contents of Check the IL04 alarm bits to

alarm code. find out the cause.

Determine the cause from the

alarm code.

Refer to 10.2.4 Motion Program Refer to the user’s manual

Alarm Codes. for the motion module
being used.
Troubleshooting

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 10 Troubleshooting
10.2.2 Problem Starting a Motion Program

10.2.2 Problem Starting a Motion Program

If a problem exists when starting a motion program, check the following items to find out how to correct the
problem.

(1) Program Execution Registration to the System

Before starting the motion program, motion programs must be registered to the system used for execution.
Two methods can be used to register motion programs: By embedding an MSEE command in H drawing or by
registering motion programs to the M-EXECUTOR module.
Refer to 4.3.2 Registering the Program Execution for details on motion program registration methods.
• Embedding an MSEE command in H Drawing

Check the ladder program to see if an

MSEE command is embedded.
Embed the MSEE command so that
it is executed every scan cycle.

• Registering Motion Programs to M-EXECUTOR

Confirm that the designated

If the check box ( ) is se-
program number is correct.
lected, the motion program
will not start.

10-4
 10.2 Troubleshooting for Motion Programs

(2) Program Start Request Bit of Control Signal and Program Running Status Bit of Status
Flag
When the MP2000 system detects a status change in motion program control signal bit 0 (Program start request)
from OFF to ON, the motion program will start running. When the motion program successfully starts running,
status flag signal bit 0 (Program running) will turn ON. Status flag signal bit 0 (Program running) will turn OFF
when the END command in the motion program is executed.
To start the motion program again, turn motion program control signal bit 0 (Program start request) OFF, and
then turn it ON again.
Check the ON/OFF status of these signal by using the data trace function.

Check to see if the program

start request bit is ON.
The motion program has correctly
started if the program running
bit is turned ON.

Control signal, bit 0:

Program start request

Status flag, bit 0:

Program running
Motion program end timing

Bit 0 Program running The motion program correctly started

Bit 1 Program paused if bit 0 is turned ON.
Bit 2 Stopped by program stop request
Bit 3 (Reserved by the system)
Bit 4 Program single-block operation stopped
Bit 5 (Reserved by the system)
Bit 6 (Reserved by the system)
Bit 7 (Reserved by the system)
Bit 8 Program alarm
Motion program Bit 9 Stopped by break point
work register Bit A (Reserved by the system)
Bit B In debug mode

1st word Status flag Bit C Program type

Bit D Start request signal history
2nd word Control signal Bit E “No system work” error, Execution scan error
BitF Main program No. over the range
3rd word Interpolation override
4th word System work number Bit 0 Program operation start request If this bit turns ON, the motion
Bit 1 Program pause request program will start running.
Bit 2 Program stop request
Bit 3 Program single-block mode selection
Bit 4 Program single-block operation start request
Bit 5 Program reset and alarm reset request
Bit 6 Program continuous operation start request
Bit 7 (Reserved by the system)
Bit 8 Skip 1 information
Bit 9 Skip 2 information
Bit A (Reserved by the system)
Bit B (Reserved by the system)
Bit C (Reserved by the system)
Bit D System work number setting
Bit E Interpolation override setting
Bit F (Reserved by the system)
Troubleshooting

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 10 Troubleshooting
10.2.2 Problem Starting a Motion Program

(3) Program Alarm Bit of Status Flag

If status flag bit 8 (Program alarm) is ON, the motion program is disabled from running because of the alarm in
the motion program.
Remove the cause of the alarm by referring to 10.2.4 Motion Program Alarm Codes, and then turn ON motion
program control signal bit 5 (Program reset and alarm reset request) to reset the alarm. After the alarm is reset,
start the motion program again.

The motion program will not start while The motion program starts
an alarm is occurring even when the running when the program start
program start request bit is turned ON. request bit is turned ON.

Program reset and alarm

reset request bit ON
Control signal, bit 0:
Program operation start request

Control signal, bit 5:

Program reset and alarm
reset request

Alarm reset
Status flag, bit 0:
Program running

Status flag, bit 8:

Program alarm occurring

An alarm occurred in the

motion program.

Status flag bit 8 turns

OFF when the Program
reset and alarm reset
request bit turns ON.

Bit 0 Program running

Bit 1 Program paused
Bit 2 Stopped by program stop request
Bit 3 (Reserved by the system)
Bit 4 Program single-block operation stopped
Bit 5 (Reserved by the system)
Bit 6 (Reserved by the system)
Bit 7 (Reserved by the system)
The motion program cannot start
Bit 8 Program alarm when this bit is ON because an
Motion program Bit 9 Stopped by break point alarm is occurring in the motion
Bit A (Reserved by the system) program.
work register
Bit B In debug mode
1st word Status flag Bit C Program type
Bit D Start request signal history
2nd word Control signal Bit E “No system work” error, Execution scan error
Bit F Main program No. outside the range
3rd word Interpolation override
4th word System work number Bit 0 Program operation start request
Bit 1 Program pause request
Bit 2 Program stop request
Bit 3 Program single-block mode selection
Bit 4 Program single-block operation start request
Bit 5 Program reset and alarm reset request When this bit turns ON, the motion
program alarm is reset.
Bit 6 Program continuous operation start request
Bit 7 (Reserved by the system)
Bit 8 Skip 1 information
Bit 9 Skip 2 information
Bit A (Reserved by the system)
Bit B (Reserved by the system)
Bit C (Reserved by the system)
Bit D System work number setting
Bit E Interpolation override setting
Bit F (Reserved by the system)

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 10.2 Troubleshooting for Motion Programs

(4) “No System Work” Error/Execution Scan Error Bit of Status Flag
If running status flag bit E (“No system work” error/execution scan error) is ON, the motion program will be dis-
abled from running because of error occurrence. In this case, confirm the following items:
• The number of tasks being executed is less than 16.
• The task that the system work number designates is not being executed.
• The MSEE command is embedded in a high-speed scan drawing (DWG.H).

Bit 0 Program running

Bit 1 Program paused
Bit 2 Stopped by program stop request
Bit 3 (Reserved by the system)
Bit 4 Program single-block operation stopped
Bit 5 (Reserved by the system)
Bit 6 (Reserved by the system)
Bit 7 (Reserved by the system)
Bit 8 Program alarm
Motion program Bit 9 Stopped by break point
work register Bit A (Reserved by the system)
Bit B In debug mode
1st word Status flag Bit C Program type
Bit D Start request signal history
2nd word Control signal Bit E “No system work” error, execution scan error
When this bit is ON, the motion
program will not start running
Bit F Main program No. outside the range because of error occurrence.
3rd word Interpolation override
4th word System work number Bit 0 Program start request
Bit 1 Program pause request
Bit 2 Program stop request
Bit 3 Program single-block mode selection
Bit 4 Program single-block operation start request
Bit 5 Program reset and alarm reset request
Bit 6 Program continuous operation start request
Bit 7 (Reserved by the system)
Bit 8 Skip 1 information
Bit 9 Skip 2 information
Bit A (Reserved by the system)
Bit B (Reserved by the system)
Bit C (Reserved by the system)
Bit D System work number setting
Bit E Interpolation override setting
Bit F (Reserved by the system)

Troubleshooting

10-7
 10 Troubleshooting
10.2.2 Problem Starting a Motion Program

(5) Main Program Number Over the Range Status Flag Bit
When status flag bit F (Main program number outside the range) is ON, the motion program will be disabled
from running because of an error. In this case, confirm the following:
• The motion program number designated in the MSEE command is within the range of 1 to 256.

If the register value to indirectly designate

the motion program is out of the range of
1 to 256, the error “Main program number
outside the range” will occur.

Bit 0 Program running

Bit 1 Program paused
Bit 2 Stopped by program stop request
Bit 3 (Reserved by the system)
Bit 4 Program single-block operation stopped
Bit 5 (Reserved by the system)
Bit 6 (Reserved by the system)
Bit 7 (Reserved by the system)
Bit 8 Program alarm
Bit 9 Stopped by break point
Motion program
work register Bit A (Reserved by the system)
Bit B In debug mode
1st word Status flag Bit C Program type
Bit D Start request signal history
2nd word Control signal Bit E “No system work” error, execution scan error When this bit is ON, the motion
Bit F Main program number outside the range program will be disabled from
3rd word Interpolation override
running because of error
4th word System work number occurrence.
Bit 0 Program start request
Bit 1 Program pause request
Bit 2 Program stop request
Bit 3 Program single-block mode selection
Bit 4 Program single-block operation start request
Bit 5 Program reset and alarm reset request
Bit 6 Program continuous operation start request
Bit 7 (Reserved by the system)
Bit 8 Skip 1 information
Bit 9 Skip 2 information
Bit A (Reserved by the system)
Bit B (Reserved by the system)
Bit C (Reserved by the system)
Bit D System work number setting
Bit E Interpolation override setting
Bit F (Reserved by the system)

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 10.2 Troubleshooting for Motion Programs

10.2.3 Confirming the Alarm Code

When an alarm occurs in motion programs (status flag bit 8 [Program alarm] is ON), the alarm code indicates the
cause of the alarm.
The alarm codes of motion programs can be found by using either of the following:
• Error information screen window
• S register
(1) Using Error Information Screen Window
There are two ways to open the Error information screen window.

(a) Opening from the Drive Control Panel

Click the Display button on the Drive control panel.

(b) Opening from the Pop-up Menu when Right-clicking on the Motion Editor Window
Right-click with the cursor on the Motion Editor window. Select Motion alarm analyzer from the menu
that pops up.

Troubleshooting

10-9
 10 Troubleshooting
10.2.3 Confirming the Alarm Code

The components of the Error information screen window are described below.
c) d) e) f) g)

a)
b)

h)

i)

a) Registry number
When an alarm occurs in the motion program registered in the Program Definition window of the M-EXEC-
UTOR, the registry number of the M-EXECUTOR defined in the Program Definition window is displayed.
When an alarm occurs in the motion program called from the ladder program by an MSEE command, “---”
is displayed.

b) Registry program
When an alarm occurs in the motion program registered in the Program Definition window of the M-EXEC-
UTOR, the motion program name defined in the Program Definition window is displayed.
When an alarm occurs in the motion program called from the ladder program by an MSEE command, “---”
is displayed.

c) Parallel
When parallel execution commands (PFORK) are used in a motion program, more than one alarm may occur
at once. Refer to 8.4.3 Parallel Execution (PFORK, JOINTO, PJOINT) for details on parallel execution com-
mands.

d) Alarm code
Alarm code is displayed.

e) Alarm name
The alarm name is displayed.

f) Program number
The program number where an error occurs is displayed.

10-10
 10.2 Troubleshooting for Motion Programs

g) Block number
The block number where an error occurs is displayed.
Double-click the block number to jump to the corresponding program.
The block numbers are displayed on the Motion Editor window.

Block number

h) Alarm Contents
The contents of the alarm are displayed.

i) Corrective Action
The corrective actions for the alarm are displayed.

(2) Using S Register

The motion program alarm codes are stored in the motion program execution information of S registers
(SW03200 to SW04191).
The S register number of the motion program alarm code will differ, depending on the system work to be used
and the parallel number.
The motion program execution information of S registers (SW03200 to SW04191) is listed on the next page.

INFO Use the following procedure to open the register list of MPE720 Ver.6.
1. Open the Register List 1 subwindow from the MPE720 Ver.6 window.
The Register List 1 tab is provided on the bottom of the MPE720 Ver.6 window by default.

2. Enter the start number SW of system registers to view in the Register input field. The
contents of system registers starting from the entered number will be displayed.
Troubleshooting

Note: The default data type setting is decimal. The data type can be changed to hexadecimal: Right-click
with the cursor on the list. Select Hexadecimal from the menu that pops up.

10-11
 10 Troubleshooting
10.2.3 Confirming the Alarm Code

• System Work Number 1 to 8

System System System System System System System System
System Work Number
Work 1 Work 2 Work 3 Work 4 Work 5 Work 6 Work 7 Work 8
Executing Main Program No. SW03200 SW03201 SW03202 SW03203 SW03204 SW03205 SW03206 SW03207
Status SW03264 SW03322 SW03380 SW03438 SW03496 SW03554 SW03612 SW3670
Control Signal SW03265 SW03323 SW03381 SW03439 SW03497 SW03555 SW03613 SW3671
Program Number SW03266 SW03324 SW03382 SW03440 SW03498 SW03556 SW03614 SW3672
Parallel
Block Number SW03267 SW03325 SW03383 SW03441 SW03499 SW03557 SW03615 SW3673
0
Alarm Code SW03268 SW03326 SW03384 SW03442 SW03500 SW03558 SW03616 SW3674
Program Number SW03269 SW03327 SW03385 SW03443 SW03501 SW03559 SW03617 SW3675
Parallel
Block Number SW03270 SW03328 SW03386 SW03444 SW03502 SW03560 SW03618 SW3676
1
Alarm Code SW03271 SW03329 SW03387 SW03445 SW03503 SW03561 SW03619 SW3677
Program Number SW03272 SW03330 SW03388 SW03446 SW03504 SW03562 SW03620 SW3678
Parallel
Block Number SW03273 SW03331 SW03389 SW03447 SW03505 SW03563 SW03621 SW3679
2
Alarm Code SW03274 SW03332 SW03390 SW03448 SW03506 SW03564 SW03622 SW3680
Program Number SW03275 SW03333 SW03391 SW03449 SW03507 SW03565 SW03623 SW3681
Parallel
Block Number SW03276 SW03334 SW03392 SW03450 SW03508 SW03566 SW03624 SW3682
3
Alarm Code SW03277 SW03335 SW03393 SW03451 SW03509 SW03567 SW03625 SW3683
Program Number SW03278 SW03336 SW03394 SW03452 SW03510 SW03568 SW03626 SW3684
Parallel
Block Number SW03279 SW03337 SW03395 SW03453 SW03511 SW03569 SW03627 SW3685
4
Alarm Code SW03280 SW03338 SW03396 SW03454 SW03512 SW03570 SW03628 SW3686
Program Number SW03281 SW03339 SW03397 SW03455 SW03513 SW03571 SW03629 SW3687
Parallel
Block Number SW03282 SW03340 SW03398 SW03456 SW03514 SW03572 SW03630 SW3688
5
Alarm Code SW03283 SW03341 SW03399 SW03457 SW03515 SW03573 SW03631 SW3689
Program Number SW03284 SW03342 SW03400 SW03458 SW03516 SW03574 SW03632 SW3690
Parallel
Block Number SW03285 SW03343 SW03401 SW03459 SW03517 SW03575 SW03633 SW3691
6
Alarm Code SW03286 SW03344 SW03402 SW03460 SW03518 SW03576 SW03634 SW3692
Program Number SW03287 SW03345 SW03403 SW03461 SW03519 SW03577 SW03635 SW3693
Parallel
Block Number SW03288 SW03346 SW03404 SW03462 SW03520 SW03578 SW03636 SW3694
7
Alarm Code SW03289 SW03347 SW03405 SW03463 SW03521 SW03579 SW03637 SW3695
Logical axis #1
SL03290 SL03348 SL03406 SL03464 SL03522 SL03580 SL03638 SL3696
Program Current Position
Logical axis #2
SL03292 SL03350 SL03408 SL03466 SL03524 SL03582 SL03640 SL3698
Program Current Position
Logical axis #3
SL03294 SL03352 SL03410 SL03468 SL03526 SL03584 SL03642 SL3700
Program Current Position
Logical axis #4
SL03296 SL03354 SL03412 SL03470 SL03528 SL03586 SL03644 SL3702
Program Current Position
Logical axis #5
SL03298 SL03356 SL03414 SL03472 SL03530 SL03588 SL03646 SL3704
Program Current Position
Logical axis #6
SL03300 SL03358 SL03416 SL03474 SL03532 SL03590 SL03648 SL3706
Program Current Position
Logical axis #7
SL03302 SL03360 SL03418 SL03476 SL03534 SL03592 SL03650 SL3708
Program Current Position
Logical axis #8
SL03304 SL03362 SL03420 SL03478 SL03536 SL03594 SL03652 SL3710
Program Current Position
Logical axis #9
SL03306 SL03364 SL03422 SL03480 SL03538 SL03596 SL03654 SL3712
Program Current Position
Logical axis #10
SL03308 SL03366 SL03424 SL03482 SL03540 SL03598 SL03656 SL3714
Program Current Position
Logical axis #11
SL03310 SL03368 SL03426 SL03484 SL03542 SL03600 SL03658 SL3716
Program Current Position
Logical axis #12
SL03312 SL03370 SL03428 SL03486 SL03544 SL03602 SL03660 SL3718
Program Current Position

10-12
 10.2 Troubleshooting for Motion Programs

System System System System System System System System

System Work Number
Work 1 Work 2 Work 3 Work 4 Work 5 Work 6 Work 7 Work 8
Logical axis #13
SL03314 SL03372 SL03430 SL03488 SL03546 SL03604 SL03662 SL3720
Program Current Position
Logical axis #14
SL03316 SL03374 SL03432 SL03490 SL03548 SL03606 SL03664 SL3722
Program Current Position
Logical axis #15
SL03318 SL03376 SL03434 SL03492 SL03550 SL03608 SL03666 SL3724
Program Current Position
Logical axis #16
SL03320 SL03378 SL03436 SL03494 SL03552 SL03610 SL03668 SL3726
Program Current Position

• System Word Number 9 to 16

System System System System System System System System
System Work Number
Work 9 Work 10 Work 11 Work 12 Work 13 Work 14 Work 15 Work 16
Executing Main Program No. SW03208 SW03209 SW03210 SW03211 SW03212 SW03213 SW03214 SW03215
Status SW03728 SW03786 SW03844 SW03902 SW03960 SW04018 SW04076 SW04134
Control Signal SW03729 SW03787 SW03845 SW03903 SW03961 SW04019 SW04077 SW04135
Program Number SW03730 SW03788 SW03846 SW03904 SW03962 SW04020 SW04078 SW04136
Parallel
Block Number SW03731 SW03789 SW03847 SW03905 SW03963 SW04021 SW04079 SW04137
0
Alarm Code SW03732 SW03790 SW03848 SW03906 SW03964 SW04022 SW04080 SW04138
Program Number SW03733 SW03791 SW03849 SW03907 SW03965 SW04023 SW04081 SW04139
Parallel
Block Number SW03734 SW03792 SW03850 SW03908 SW03966 SW04024 SW04082 SW04140
1
Alarm Code SW03735 SW03793 SW03851 SW03909 SW03967 SW04025 SW04083 SW04141
Program Number SW03736 SW03794 SW03852 SW03910 SW03968 SW04026 SW04084 SW04142
Parallel
Block Number SW03737 SW03795 SW03853 SW03911 SW03969 SW04027 SW04085 SW04143
2
Alarm Code SW03738 SW03796 SW03854 SW03912 SW03970 SW04028 SW04086 SW04144
Program Number SW03739 SW03797 SW03855 SW03913 SW03971 SW04029 SW04087 SW04145
Parallel
Block Number SW03740 SW03798 SW03856 SW03914 SW03972 SW04030 SW04088 SW04146
3
Alarm Code SW03741 SW03799 SW03857 SW03915 SW03973 SW04031 SW04089 SW04147
Program Number SW03742 SW03800 SW03858 SW03916 SW03974 SW04032 SW04090 SW04148
Parallel
Block Number SW03743 SW03801 SW03859 SW03917 SW03975 SW04033 SW04091 SW04149
4
Alarm Code SW03744 SW03802 SW03860 SW03918 SW03976 SW04034 SW04092 SW04150
Program Number SW03745 SW03803 SW03861 SW03919 SW03977 SW04035 SW04093 SW04151
Parallel
Block Number SW03746 SW03804 SW03862 SW03920 SW03978 SW04036 SW04094 SW04152
5
Alarm Code SW03747 SW03805 SW03863 SW03921 SW03979 SW04037 SW04095 SW04153
Program Number SW03748 SW03806 SW03864 SW03922 SW03980 SW04038 SW04096 SW04154
Parallel
Block Number SW03749 SW03807 SW03865 SW03923 SW03981 SW04039 SW04097 SW04155
6
Alarm Code SW03750 SW03808 SW03866 SW03924 SW03982 SW04040 SW04098 SW04156
Program Number SW03751 SW03809 SW03867 SW03925 SW03983 SW04041 SW04099 SW04157
Parallel
Block Number SW03752 SW03810 SW03868 SW03926 SW03984 SW04042 SW04100 SW04158
7
Alarm Code SW03753 SW03811 SW03869 SW03927 SW03985 SW04043 SW04101 SW04159
Logical axis #1
SL03754 SL03812 SL03870 SL03928 SL03986 SL04044 SL04102 SL04160
Program Current Position
Logical axis #2
SL03756 SL03814 SL03872 SL03930 SL03988 SL04046 SL04104 SL04162
Program Current Position
Troubleshooting

Logical axis #3
SL03758 SL03816 SL03874 SL03932 SL03990 SL04048 SL04106 SL04164
Program Current Position
Logical axis #4
SL03760 SL03818 SL03876 SL03934 SL03992 SL04050 SL04108 SL04166
Program Current Position
Logical axis #5
SL03762 SL03820 SL03878 SL03936 SL03994 SL04052 SL04110 SL04168
Program Current Position
Logical axis #6
SL03764 SL03822 SL03880 SL03938 SL03996 SL04054 SL04112 SL04170
Program Current Position
Logical axis #7
SL03766 SL03824 SL03882 SL03940 SL03998 SL04056 SL04114 SL04172
Program Current Position

10-13
 10 Troubleshooting
10.2.3 Confirming the Alarm Code

System System System System System System System System

System Work Number
Work 9 Work 10 Work 11 Work 12 Work 13 Work 14 Work 15 Work 16
Logical axis #8
SL03768 SL03826 SL03884 SL03942 SL04000 SL04058 SL04116 SL04174
Program Current Position
Logical axis #9
SL03770 SL03828 SL03886 SL03944 SL04002 SL04060 SL04118 SL04176
Program Current Position
Logical axis #10
SL03772 SL03830 SL03888 SL03946 SL04004 SL04062 SL04120 SL04178
Program Current Position
Logical axis #11
SL03774 SL03832 SL03890 SL03948 SL04006 SL04064 SL04122 SL04180
Program Current Position
Logical axis #12
SL03776 SL03834 SL03892 SL03950 SL04008 SL04066 SL04124 SL04182
Program Current Position
Logical axis #13
SL03778 SL03836 SL03894 SL03952 SL04010 SL04068 SL04126 SL04184
Program Current Position
Logical axis #14
SL03780 SL03838 SL03896 SL03954 SL04012 SL04070 SL04128 SL04186
Program Current Position
Logical axis #15
SL03782 SL03840 SL03898 SL03956 SL04014 SL04072 SL04130 SL04188
Program Current Position
Logical axis #16
SL03784 SL03842 SL03900 SL03958 SL04016 SL04074 SL04132 SL04190
Program Current Position

10-14
 10.2 Troubleshooting for Motion Programs

10.2.4 Motion Program Alarm Codes

(1) Configuration of Motion Program Alarms
The following diagram shows the configuration of alarms.

Bit15 Bit12 Bit8 Bit7 Bit0

Alarm occurrence axis Alarm code (When Bit 7 is ON: Axis alarm)
information (1 to 16)

(2) Alarm Code List for Motion Program

The following table shows the alarm codes of motion programs.
Alarm
Name Description Corrective Actions
Code
02h Division error Data divided by 0 Review the motion program.
• Designate a center coordinate instead
Turn number was specified instead of
A circle instead of of a radius to perform the circular arc
10h radius in the circular arc or helical interpo-
radius was specified or helical interpolation command.
lation command.
• Never specify the turn number.
Interpolation feeding Interpolation feeding speed exceeded the Modify the interpolation feeding speed
11h
speed over limit valid range of the FMX command. of the interpolation command
No interpolation feeding speed was speci-
No interpolation feed- Specify the interpolation feeding speed
12h fied. (once specified, this can be omitted as
ing speed specified in the interpolation command.
in the motion program)
Range exceeded after
Indirect acceleration parameter exceeded
13h converting accelera- Change the indirect register value.
the valid range.
tion parameter
Circular arc length Circular arc length exceeded the valid range Review the circular arc length in the cir-
14h exceeded in the circular arc or helical interpolation cular arc or helical interpolation com-
LONG_MAX command. mand.
Vertical axis not speci-
Vertical axis was not specified in the circu-
15h fied for circular arc Use PLN command to specify the axis.
lar arc or helical interpolation command.
plane
Horizontal axis not
Horizontal axis was not specified in the cir-
16h specified for circular Use PLN command to specify the axis.
cular arc or helical interpolation command.
arc plane
Too many axes were configured in the cir-
Specified axis over Modify the axis in the circular arc or
17h cular arc (two axes) or helical (three axes)
limit helical interpolation command.
interpolation command.
Turn number exceeded the valid range in
Turn number over Modify the turn number in the circular
18h the circular arc or helical interpolation com-
limit arc or helical interpolation command.
mand.
Radius exceeded Radius exceeded the valid range in the cir- Review the radius in the circular arc or
19h
LONG_MAX cular arc or helical interpolation command. helical interpolation command.
Improper center point was specified in the Specify the center point properly in the
1Ah Center point error circular arc or helical interpolation com- circular arc or helical interpolation com-
mand. mand.
Turn OFF the program stop request for
Running emergency Axis move command stopped due to a pro-
1Bh the motion program control signal, and
Troubleshooting

stop command gram stop request.

turn ON the alarm reset request.
Linear interpolation
moving amount Moving amount exceeded the valid range in Review the moving amount in the linear
1Ch
exceeded the linear interpolation command. interpolation command.
LONG_MAX
FMX command not executed in the motion Perform an FMX command. The FMX
1Dh FMX undefined program containing an interpolation com- command is required in each program
mand. containing an interpolation command.
Designation exceeded the valid range in the Review the setting in the IAC/IDC/FMX
1Eh Address T out of range
IAC/IDC/FMX commands. command.

10-15
 10 Troubleshooting
10.2.4 Motion Program Alarm Codes

Alarm
Name Description Corrective Actions
Code
Designation exceeded the valid range in the
1Fh Address P out of range Review the setting in the IFP command.
IFP command.
A motion command was instructed simulta-
PFORK execution neously at the second line in the PFORK of Review the source motion program or
21h
error both a source motion program and a subpro- subprogram.
gram.
Indirect register range Specified register address exceeds the regis-
22h Review the motion program.
error ter size range.
Axis moving amount with decimal point for
Moving amount out of
23h an axis move command exceeded the possi- Review the axis moving amount.
range
ble range.
Use of logical axis Multiple motion commands instructed
80h Review the motion program.
prohibited against the same axis at the same time.
Designation exceeded • Modify the fixed parameter “Maxi-
Moving distance designation exceeded
81h POSMAX in the infi- mum infinite length axis counter”
POSMAX in the infinite length axis.
nite length axis • Review the motion program.
Axis moving distance
Axis moving distance designation exceeded
82h exceeded Review the motion program.
the valid range.
LONG_MAX
Check to see whether another program
Duplicated motion Multiple commands ware executed against
84h gave a command to the same axis at the
command a single axis.
same time. If so, review the program.
• Remove the alarm cause from the des-
tination axis.
• If the servo is not turned ON, turn ON
A motion command response different from
Motion command the servo.
85h that instructed by the motion command is
response error • Check to see whether another program
reported from a motion module.
gave a command to the same axis at
the same time. If so, review the pro-
gram.
VEL setting data out An instruction in the VEL command
87h Review the VEL command.
of range exceeded the valid range.
INP setting data out of An instruction in the INP command
88h Review the INP command.
range exceeded the valid range.
ACC/SCC/DCC set- An instruction in the ACC/SCC/DCC com-
89h Review the ACC/SCC/DCC command.
ting data out of range mand exceeded the valid range.
No time specified in T designation in the MVT command was
8Ah Review the MVT command.
the MVT command zero.
A motion command which cannot be exe-
Command execution
8Bh cuted by the destination motion module was Review the motion program.
disabled
instructed.
A motion command was executed when a Review the motion program so that the
Distribution
8Ch motion module was not in the Distribution motion command is executed in the Dis-
incomplete
Completed state. tribution Completed state.
Motion command Motion module fell into the “Motion com- • Release the destination axis error.
8Dh
abnormally aborted mand abnormally aborted” state. • Review the motion program.

10-16
 10.3 Troubleshooting for Sequence Programs

10.3 Troubleshooting for Sequence Programs

10.3.1 Error Investigation Flow
If the cause of error may be related to the sequence program, refer to the following flowchart to troubleshoot the
error.

START

Do you have any problem YES Problem starting a

starting a sequence program? sequence program

NO

Refer to 10.3.2 Problem Starting a

Sequence Program.

Is ERR or ALM of the YES

LED on the front of basic System error or
module lit? operation error
System error or
operation error
NO

It’s not an error. Refer to the user’s manual

for the Machine Controller
being used to troubleshoot
errors.

Troubleshooting

10-17
 10 Troubleshooting
10.3.2 Problem Starting a Sequence Program

10.3.2 Problem Starting a Sequence Program

When a problem exists when starting a sequence program, check the following items to find out how to correct it.
(1) Program Execution Registration to the System
Before starting the sequence program, sequence programs must be registered to the system used to execute.
Register the sequence programs to the M-EXECUTOR module to register them to the system for execution.
Refer to 5.2.2 Registering Program Execution for information for sequence program registration.

If the check box ( ) is selected, the Confirm that the designated se-
sequence program will not start running. quence program number is correct.

(2) Program Alarm Occurring Status Flag Bit

When status flag bit 8 (Program alarm occurring) is ON, the sequence program is disabled from running
because of an error occurrence. In this case, check the following items:
• The called program exists.
• The called program is a sequence program.
• The sequence subprogram call command (SSEE) calls a subprogram, but not a main program.
• The sequence program number designated in the SSEE command is within the range of 1 to 256.
• Nesting of sequence subprogram call command (SSEE) is within 8 levels.
Bit 0 Program running
Bit 1 (Reserved by the system)
Bit 2 (Reserved by the system)
Bit 3 (Reserved by the system)
M-EXECUTOR Bit 4 (Reserved by the system)
control register Bit 5 (Reserved by the system)
Bit 6 (Reserved by the system)
Status flag
Bit 7 (Reserved by the system)
Bit 8 Program alarm
Bit 9 Stopped by break point
Bit A (Reserved by the system)
Bit B In debug mode
Bit C Program type
Bit D Start request signal history
Bit E (Reserved by the system)
Bit F (Reserved by the system)

10-18
 Appendices

A Motion Language Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2

A.1 Axis Setting Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2
A.2 Axis Move Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-3
A.3 Control Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-5
A.4 Program Control Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-6
A.5 Arithmetic Operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-8
A.6 Logical Operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-8
A.7 Data Comparison - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-9
A.8 Data Operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-9
A.9 Basic Functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-10
A.10 C-Language Control Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-11

B Sample Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-12

B.1 Programs for Controlling Motion Program Execution - - - - - - - - - - - - - - - - - - - - - - - - A-13
B.2 Parallel Processing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-15
B.3 Motion Program for Speed Control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-16
B.4 Simple Synchronized Operation Using a Virtual Axis - - - - - - - - - - - - - - - - - - - - - - - - A-17
B.5 Sequence Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-19

C Differences between MP900 Series and MP2000 Series Machine

Controllers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-21
C.1 Motion Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-21
C.2 Sequence Programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-21
C.3 Motion Programming Commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-22
C.4 Group Definitions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-22
C.5 Debug Function - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-23
C.6 Motion Program Alarms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-23

D Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-24
D.1 General Precautions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-24
D.2 Precautions on Motion Parameter Settings - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-25

A-1
 Appendices
A.1 Axis Setting Commands

A Motion Language Commands

Motion language commands are listed below. Refer to Chapter 8 Command Reference for details on each com-
mand.
 −
Applicable Not applicable

A.1 Axis Setting Commands

Sequence
Programs

Programs
Motion
Command Name Programming Format Description

ABS;
or Treats all subsequent coordinate words
ABS Absolute Mode  −
ABS MOV [Logical axis name 1] - as absolute values.
[Logical axis name 2] - ;
INC;
Incremental or Treats all subsequent coordinate words
INC  −
Mode INC MOV [Logical axis name 1] - as incremental values.
[Logical axis name 2] - ;
ACC [Logical axis name 1]Accelera-
Sets the acceleration time for linear
Acceleration tion time [Logical axis name 2] Ac-
ACC acceleration/deceleration for up to 16  −
Time Change celeration time [Logical axis name 3]
axes simultaneously.
Acceleration time  ;
DCC [Logical axis name 1] Deceler- Sets the deceleration time for a position-
Deceleration ation time [Logical axis name 2] De- ing related command.
DCC  −
Time Change celeration time [Logical axis name 3] A maximum of 16 axes can be desig-
Deceleration time  ; nated in one command block.
S-curve Time SCC [Logical axis name 1] S-curve Sets the time constant for moving aver-
SCC Constant time constant [Logical axis name 2] age acceleration/deceleration for up to  −
Change S-curve time constant  ; 16 axes simultaneously.
VEL [Logical axis name 1] Feed Sets the speed for a positioning related
speed [Logical axis name 2] Feed command.
VEL Set Velocity  −
speed [Logical axis name 3] Feed A maximum of 16 axes can be desig-
speed  ; nated in one command block.
Sets the maximum speed during an inter-
Maximum Inter- polation feed.
FMX T Maximum interpolation feed
FMX polation Feed The interpolation acceleration time is the  −
speed ;
Speed Setting time taken from “0” until this speed is
reached.
Sets the speed for an interpolation
Interpolation related command.
IFP P Interpolation feed speed ratio
IFP Feed Speed Ra- Designate a percentage of the maximum  −
;
tio Setting speed as the interpolation feed speed
ratio.
Sets the acceleration time for an interpo-
Interpolation Ac-
IAC T Interpolation acceleration lation related command.
IAC celeration Time  −
time ; Designate the time required to reach the
Change
maximum speed from the speed 0 (zero).
Sets the deceleration time for an interpo-
Interpolation De- lation related command.
IDC T Interpolation deceleration
IDC celeration Time Designate the time required to decelerate  −
time ;
Change to the speed 0 (zero) from the maximum
speed.
Sets the acceleration/deceleration mode
Set Interpolation for interpolation commands.
ACCMODE Acceleration/De- ACCMODE M mode_number; This allows you to specify processing  −
celeration Mode multiple interpolation commands in suc-
cession.

A-2
 A Motion Language Commands

A.2 Axis Move Commands

Sequence Programs
Motion Programs
Com-
Name Programming Format Description
mand

MOV [Logical axis name 1] Reference position

Executes positioning at the specified
MOV Positioning [Logical axis name 2] Reference position [Logical  −
positioning speed for up to 16 axes.
axis name 3] Reference position  ;
MVS [Logical axis name 1] Reference position
Linear Executes linear movement at the
[Logical axis name 2] Reference position [Logical
MVS Interpola- interpolation feed speed F for up to  −
axis name 3] Reference position  F Interpolation
tion 16 axes.
feed speed ;
MCW [Logical axis name 1] End po-
Center sition [Logical axis name 2] End po-
position sition U Center point position V
Clockwise designation Center point position T Number of
Circular turns F Interpolation speed ;
MCW
Interpola-
tion MCW [Logical axis name 1] End po- Executes circular interpolation at tan-
Radius sition [Logical axis name 2] End po- gential speed F for two axes simulta-
designation sition R Radius F Interpolation feed neously following radius R (or
speed ; designated center point coordinates).
 −
MCC [Logical axis name 1] End po- With the center point coordinate des-
Center sition [Logical axis name 2] End po- ignation, multiple circles can be des-
Counter- position sition U Center point position V ignated with T−. (T− can also be
clockwise designation Center point position T Number of omitted.)
MCC Circular turns F Interpolation feed speed ;
Interpola- MCC [Logical axis name 1] End po-
tion Radius sition [Logical axis name 2] End po-
designation sition R Radius F Interpolation feed
speed ;
MCW [Logical axis name 1] End po-
sition [Logical axis name 2] End po-
Center sition U Center point position V
position Center point position [Logical axis
Clockwise designation name 3] Linear interpolation end po-
Helical sition T Number of turns F Interpola-
MCW tion feed speed ;
Interpola-
tion MCW [Logical axis name 1] End po- Moves three axes simultaneously in a
sition [Logical axis name 2] End po- combination of circular interpolation
Radius
sition R Radius [Logical axis name 3] and linear interpolation outside the
designation
Linear interpolation end position F circular interpolation plane. Speed F
Interpolation feed speed ; will be the circular interpolation tan-
 −
MCC [Logical axis name 1] End po- gential speed.
sition [Logical axis name 2] End po- With the center point coordinate des-
Center sition U Center point position V ignation, the number of turns can be
position Center point position [Logical axis designated with T−. (T− can also be
Counter- designation name 3] Linear interpolation end po- omitted.)
clockwise sition T Number of turns F Interpola-
MCC Helical tion feed speed ;
Interpola-
tion MCC [Logical axis name 1] End po-
sition [Logical axis name 2] End po-
Radius
sition R Radius [Logical axis name 3]
designation
Linear interpolation end position F
Interpolation feed speed  ;
- Continues to the next page -

A-3
 Appendices
A.2 Axis Move Commands

(cont’d)

Sequence Programs
Motion Programs
Com-
Name Programming Format Description
mand

Zero Point ZRN [Logical axis name1]0

ZRN Returns each axis to its zero point.  −
Return [Logical axis name 2]0 [Logical axis name 3] ;
Linear
SKP [Logical axis name 1] Reference position If the SKIP signal turns ON during a
Interpola-
[Logical axis name 2] Reference position [Logical linear interpolation operation, skips
SKP tion with  −
axis name 3] Reference position  F Interpolation the remaining movement and pro-
Skip
feed speed SS Skip input signal ; ceeds to the next block.
Function
MVT [Logical axis name 1] Reference position
Executes positioning by clamping the
Set Time [Logical axis name 2] Reference position [Logical
MVT feed speed so that travel can be com-  −
Positioning axis name 3] Reference position  T Positioning
pleted at the designated time.
time (ms) ;
When an external positioning signal
is input while external positioning is
EXM [Logical axis name 1] Reference position D
External being executed, only the travel dis-
EXM Movement amount from the time the external posi-  −
Positioning tance designated by “D−” is posi-
tioning signal is input ;
tioned with an incremental value, and
then the next command is executed.

A-4
 A Motion Language Commands

A.3 Control Commands

Sequence Programs
Motion Programs
Com-
Name Programming Format Description
mand

Changes the current values to the

POS [Logical axis name 1] Desired coordinate val- desired coordinate values for up to
Current
POS ue [Logical axis name 2] Desired coordinate value 16 axes. Subsequent move com-  −
Position Set
 ; mands use this new coordinate sys-
tem.
Goes to the target position on the
machine coordinate system. The
coordinate system set automatically
Move on MVM MOV [Logical axis name 1] Reference posi-
on completion of the zero point
MVM Machine tion [Logical axis name 2] Reference position [Log-  −
return is called a machine coordi-
Coordinate ical axis name 3] Reference position  ;
nate system. This coordinate system
is not affected by the POS com-
mand.
Coordinate Designates the coordinate plane to
PLN [Logical axis name 1 (vertical axis)] [Logical
PLN Plane be used for a command requiring a  −
axis name 2 (horizontal axis)] ;
Setting plane designation command.
Program Updates the program current posi-
Current PLD [Logical axis name 1] tion for axes shifted by manual
PLD  −
Position [Logical axis name 2]  ; intervention. Up to 16 axes can be
Update designated.
MVS [Logical axis name 1] - [Logical axis name 2] -
 PFN ;
or Proceeds to the next block when the
axis that is being moved by an inter-
In-position MVS [Logical axis name 1] - [Logical axis name 2] -
PFN polation related command in the  −
Check  ;
same block or the previous block,
PFN [Logical axis name 1] [Logical axis name 2] ; enters the in-position check width.
MVS [Logical axis name 1] - [Logical axis name 2] -
 ;
Sets the NEAR signal output width.
Set The execution of a subsequent inter-
INP [Logical axis name 1] NEAR signal output
In-position polation related command block
INP width [Logical axis name 2] NEAR signal output  −
Check with a PFN command proceeds to
width  ;
Width the next block after entering in-posi-
tion check width.

A-5
 Appendices
A.4 Program Control Commands

A.4 Program Control Commands

Sequence Programs
Motion Programs
Com-
Name Programming Format Description
mand

IF (Conditional expression) ;
IF Executes process 1 if the conditional
(Process 1) ;
Branching expression is satisfied, and executes
ELSE ELSE;  
Commands process 2 if the conditional expres-
IEND (Process 2) ;
sion is not satisfied.
IEND;
WHILE (Conditional expression) ; Repeatedly executes WHILE to
WHILE Repeat
 ; WEND processing for as long as the  
WEND Commands
WEND; conditional expression is satisfied.
PFORK Label 1, Label 2, Label 3,  ;
Label 1: Process 1 ; Executes the blocks designated by the
JOINTO Label X ; labels in parallel. With a subroutine, a
PFORK Parallel
Label 2: Process 2 ; maximum of two labels can be desig-
JOINTO Execution  −
JOINTO Label X ; nated.
PJOINT Commands
Label 3: Process 3 ; END and RET cannot be used during
JOINTO Label X ; parallel execution processing.
Label X: PJOINT ;
SFORK Conditional expression 1? Label 1,
Conditional expression 2? Label 2, Condi-
tional expression 3? Label 3, Conditional ex-
pression 4? Label 4 ;
Label 1: Process 1 ;
SFORK JOINTO Label X ; Executes process 1 if conditional
Selective
Label 2: Process 2 ; expression 1 is satisfied, and executes
JOINTO Execution  
JOINTO Label X ; process 2 if the conditional expres-
SJOINT Commands
Label 3: Process 3 ; sion 2 is satisfied.
JOINTO Label X ;
Label 4: Process 4 ;
JOINTO Label X ;
 ;
Label X: SJOINT;
Motion
MSEE Subprogram MSEE MPS ; Executes subprogram MPS.  −
Call
Sequence
SSEE Subprogram SSEE SPS ; Executes subprogram SPS. − 
Call
User Function
UFC User function name Input data, Input Calls the user defined function from a
UFC Call From  −
address, Output data ; motion program.
Motion Program
User Function
Call From FUNC User function name, Input data, Input Calls the user defined function from a
FUNC − 
Sequence address, Output data ; sequence program.
Program
END Program End END; Ends the motion program.  
Subroutine
RET RET; Ends the subroutine.  
Return

A-6
 A Motion Language Commands

(cont’d)

Sequence Programs
Motion Programs
Com-
Name Programming Format Description
mand

Waits for the period of time specified

TIM Dwell Time TIM T− by T, and then proceeds to the next  −
block.
Stops execution of the motion pro-
IOW I/O Wait IOW MB−==  ; gram until the conditional expression  −
given in the command is satisfied.
Divides the execution of consecu-
tively coded sequence commands.
EOX One Scan Wait EOX;  −
The command block after EOX will
be executed at the next scan.
Single-block
Disabled SNGD; Specifies whether to enable or disable
SNGD/
(SNGD)/Single-  ; single step operation during debug-  −
SNGE
block Enabled SNGE; ging.
(SNGE)

A-7
 Appendices
A.5 Arithmetic Operations

A.5 Arithmetic Operations

Sequence Programs
Motion Programs
Com-
Name Programming Format Description
mand

Substitutes operation results. Performs calcula-

= Substitute (Result) = (Math expression) tions from left to right (with no order of prior-  
ity).
Performs integer and real number addition. Cal-
+ Add MW − = MW − + MW − ; culates combinations of integers and real num-  
bers as real numbers.
Performs integer and real number subtraction.
- Subtract MW − = MW − - MW − ; Calculates combinations of integers and real  
numbers as real numbers.
Performs integer and real number multiplication.
* Multiply MW − = MW − * MW − ; Calculates combinations of integers and real  
numbers as real numbers.
Performs integer and real number division. Cal-
/ Divide MW − = MW −/ MW − ; culates combinations of integers and real num-  
bers as real numbers.
When programmed in the next block after a divi-
MW − = MW −/ MW − ;
MOD Remainder sion, MOD stores the remainder in the desig-  
MW − = MOD;
nated register.

A.6 Logical Operations

Sequence Programs
Com- Motion Programs
Name Programming Format Description
mand

MB − = MB − | MB − ;
MB − = MB − | 1;
| OR (logical OR) Performs bit/integer logical OR.  
MW − = MW − | MW − ;
MW − = MW − | 00FFH;
MB − = MB − & MB − ;
AND MB − = MB − & 1;
& Performs bit/integer logical AND.  
(logical AND) MW − = MW − & MW − ;
MW − = MW − & 00FFH;
XOR
MW − = MW − ^ MW − ;
^ (logical exclusive Performs integer logical exclusive OR.  
MW − = MW − ^ 00FFH;
OR)
MB − = !MB − ;
NOT (logical MB − = !1; Performs bit/integer logical complement
!  
complement) MW − = !MW − ; (inverts bits).
MW − = !00FFH;

A-8
 A Motion Language Commands

A.7 Data Comparison

Sequence Programs
Motion Programs
Com-
Name Programming Format Description
mand

Used in an IF or WHILE conditional

IF MW − == MW − ;
== Match expression. If the left side and right side  
WHILE MW − == MW − ;
match, the condition is “true.”
Used in an IF or WHILE conditional
IF MW − <> MW − ;
<> Mismatch expression. If the left side and right side do  
WHILE MW − <> MW − ;
not match, the condition is “true.”
Used in an IF or WHILE conditional
IF MW − > MW − ;
> Greater Than expression. If the left side is greater than  
WHILE MW − > MW − ;
the right side, the condition is “true.”
Used in an IF or WHILE conditional
IF MW − < MW − ;
< Less Than expression. If the left side is less than the  
WHILE MW − < MW −
right side, the condition is “true.”
Used in an IF or WHILE conditional
Greater Than IF MW − >= MW − ; expression. If the left side is greater than or
>=  
or Equal To WHILE MW − >= MW − ; equal to the right side, the condition is
“true.”
Used in an IF or WHILE conditional
Less Than or IF MW − <= MW − ; expression. If the left side is less than or
<=  
Equal To WHILE MW − <= MW − ; equal to the right side, the condition is
“true.”

A.8 Data Operations

Sequence Programs
Motion Programs
Com-
Name Programming Format Description
mand

Shifts the bit variable in the specified num-

SFR Right Shift SFR MB − N − W − ;  
bers to the right.
Shifts the bit variable in the specified num-
SFL Left Shift SFL MB − N − W − ;  
bers to the left.
Copies the areas of specified blocks begin-
BLK Block Move BLK MW − MW − W − ; ning with the specified transfer source to the  
specified destination.
Clears the desired area to 0 (zero) beginning
CLR Clear CLR MW − W − ;  
with the specified register.
ASCII Converts the specified characters to ASCII
ASCII ASCII ‘Character string’ MW − ;  
Convert 1 code, and stores to the specified register.

A-9
 Appendices
A.9 Basic Functions

A.9 Basic Functions

Sequence Programs
Motion Programs
Com-
Name Programming Format Description
mand

Obtains the sine of integer or real number data.

SIN (MW − );
SIN Sine The specifications differ depending on the data  
SIN (90) ;
type: Integer or real number.
Obtains the cosine of integer or real number data.
COS (MW − );
COS Cosine The specifications differ depending on the data  
COS (90) ;
type: Integer or real number.
TAN (MF − ); Obtains the tangent of real number data.
TAN Tangent  
TAN (45.0) ; Only a real number type register can be designated.
ASN (MF − ); Obtains the arc sine of the real number data.
ASN Arc Sine  
ASN (90.0) ; Only a real number type register can be designated.
ACS (MF − ); Obtains the arc cosine of real number data.
ACS Arc Cosine  
ACS (90.0) ; Only a real number type register can be designated.
Obtains the arc tangent of integer or real number
ATN (MW − ); data.
ATN Arc Tangent  
ATN (45) ; The specifications differ depending on the data
type: Integer or real number.
Obtains the root of integer or real number data.
SQT (MW − );
SQT Square Root The specifications differ depending on the data  
SQT (100) ;
type: Integer or real number.
BCD-to-
BIN BIN (MW − ); Converts BCD data to binary data.  
Binary
Binary-to-
BCD BCD (MW − ); Converts binary data to BCD data.  
BCD
If the logical operation result is true, the desig-
nated bit turns ON.
S {　} Set Bit S {MB − } = MB − & MB − ;  
The designated bit does not turn OFF even if the
logical operation result is false.
If the logical operation result is true, the desig-
nated bit turns OFF. The designated bit does not
R {　} Reset Bit R {MB − } = MB − & MB − ;  
turn ON even if the logical operation result is
false.
MB − = PON (MB − MB − );
or
The bit output turns ON for one scan when the bit
PON Rising Pulse IF PON (MB − MB − ) == 1; − 
input status changes from OFF to ON.
 ;
IEND;
MB − = NON (MB − MB − );
or
The bit output turns ON for one scan when the bit
NON Falling Pulse IF NON (MB − MB − ) == 1; − 
input status changes from ON to OFF.
 ;
IEND;
Counts the period of time when the bit input is
ON.
ON-Delay
TON MB − = MB − & TON ( − MB − ); The bit output turns ON when the counted value is − 
Timer
equal to the set value.
Counting unit: 10 ms.
Counts the period of time when the bit input is
OFF.
OFF-Delay
TOF MB − = MB − & TOF ( − MB − ); The bit output turns OFF when the counted value − 
Timer
is equal to the set value.
Counting unit: 10 ms.

A-10
 A Motion Language Commands

A.10 C-Language Control Commands

Sequence Programs
Motion Programs
Com-
Name Programming Format Description
mand

CTSK EXECUTE TYPE,

C-Language Controls the operations of C-language
CTSK C_NAME,  
Task Control user task, such as start and stop.
COMPLETE ERROR ERR_CODE;
CFUNC EXECUTE OPTION1 OPTION2,
C-Language
CFUNC C_NAME C_ARG1 C_ARG2, Calls the C-language user function.  
Function Call
COMPLETE ERROR C_RETURN;

A-11
 Appendices

B Sample Programs

The following table shows the sample programs.

Reference
Sample Programs Description
Section
Sample ladder and sequence programs to control motion
Programs to control motion programs B.1
program.
Sample motion program for parallel processing using a
Parallel processing B.2
PFORK command.
Speed control by using a motion program Sample motion program for speed control. B.3
Simple synchronized operation using a Sample program to move two axes in synchronization using
B.4
virtual axis the SVR module.
Sample sequence programs for JOG and STEP operations of
Sequence programs B.5
a single axis servomotor.

A-12
 B Sample Programs

B.1 Programs for Controlling Motion Program Execution

Sample ladder and sequence programs to control execution of motion program are shown below.
(1) Ladder Program

The servo turns ON when

IB00000 turns ON.

The motion program starts running

when IB00001 turns ON.

Registers the motion program to

run by using an MSEE command.

A-13
 Appendices
B.1 Programs for Controlling Motion Program Execution

(2) Sequence Program

"--------------------------------------- The servo turns ON

when IB00000 turns
" Servo ON command ON.
"---------------------------------------
OB80000 = IB00000; "Axis 1 servo ON "

"--------------------------------------- The motion program starts running

" Control signal when IB00001 turns ON.
"---------------------------------------
DB000010 = PON(IB00001 MB000000); " Program start "
DB000011 = IB00002; " Pause "
DB000012 = IB00003; " Program stop "
DB000015 = IB00004; " Alarm reset "

"---------------------------------------
" Stops the motion program operation
"---------------------------------------
IF NON(DB000000 MB000001) == 1; " Program operation OFF? "
; " Process when the program
IEND; operation stops "

END;

IMPORTANT No MSEE command can be embedded in sequence programs.

In this case, embed an MSEE command in the H drawing.

A-14
 B Sample Programs

B.2 Parallel Processing

A sample motion program for parallel execution accomplished by using a PFORK command is shown below.

ABS; " Absolute mode Starts parallel

PFORK 001 002 003 004; processing

001:FMX T10000K; " Sets the max. interpolation feed speed

PLN [A1] [B1]; " Sets the plane for circular interpolation
Program 1: Circular interpolation
MCC [A1] 0 [B1]0 U100000 V0 F10000K; " Circular interpolation
JOINTO 005;
002:FMX T10000K; " Sets the max. interpolation feed speed
Program 2: Linear interpolation
MVS [C1] 131072 [D1] 20000 F10000K; " Linear interpolation
JOINTO 005;
003:IOW IL8816>130000; "Monitors C1 axis position Program 3: C1 axis position monitor
OB00000=1; " When reached, OB00000 turns ON.
JOINTO 005;
004:IOW IL8896>12000; "Monitors D1 axis position
OB00001=1; " When reached, OB00001 turns ON. Program 4: D1 axis position monitor
JOINTO 005;
005:PJOINT;
END;

The following diagram illustrates the operations executed by the above sample program.

001 002 003 004

2-axis linear
Circular interpolation interpolation with axis C1 axis position monitor D1 axis position monitor
with axis A1 and B1 C1 and D1

005

A-15
 Appendices
B.3 Motion Program for Speed Control

B.3 Motion Program for Speed Control

A sample motion program for speed control is shown below.
For this sample program, bits 0 to 3 (Speed unit selection) of motion setting parameter OW03 are set to
0.01% (a percentage of the rated speed).

OW8008=23; "Speed control mode

OL8010=6000; "Changes the speed to 60% of rated speed
TIM T300; "Waits for three seconds
OL8010=10000; "Changes the speed to the rated speed
TIM T400; " Waits for four seconds
OL8010=5000; "Changes the speed to 50% of rated speed
TIM T600; " Waits for six seconds
OW8008=0; "Cancels the speed control mode
END;

The following diagram illustrates the moving pattern implemented by the above sample program.

Speed [%]

100 Rated speed

50

0 Time (s)

Motion setting parameter‫ޓ‬

OL10: Speed unit setting

10000

5000

0 Time (s)
3U 4U 6U

A-16
 B Sample Programs

B.4 Simple Synchronized Operation Using a Virtual Axis

With this sample program, a motion program is used to move an SVR (virtual axis), and two copies of the SVR
feedback position are made by a ladder program for two actual axes to perform a two-axis synchronized opera-
tion.

SVB
Axis 1

SVR (Virtual axis)

Axis 2

Use the motion program to

execute single-axis interpolation.

Use the ladder program to make copies of

the SVR (virtual axis) feedback position.
Axis 1 and Axis 2 use the copied feedback
position to perform two-axis synchronized
operation.

• Motion Program

FMX T10000K; "Sets the max. interpolation feed speed. (K=1000)

INC; "Incremental mode
IAC T500; "Interpolation acceleration time = 500 ms
IDC T500; "Interpolation deceleration time = 500 ms
MVS [SVR] 1000K F10000K; "Interpolation with movement amount 1000000
END;

A-17
 Appendices
B.4 Simple Synchronized Operation Using a Virtual Axis

A-18
 B Sample Programs

B.5 Sequence Programs

In this sample program, sequence programs are used for JOG and STEP operation of servomotor with single axis.

Sequence main program (SPM001)

"SPM001: Main program"

SSEE SPS002; "Settings common to all axes

SSEE SPS003; "JOG & STEP operation process
END;

Sequence subprogram (SPS002)

"SPS002: Settings common to all axes"

"---------------------------------------
" Motion command 0 (No command) detection
"---------------------------------------
IF IW8008 == 0;
MB300010 = 1;
ELSE;
MB300010 = 0;
IEND;
The Servo turns ON when
"--------------------------------------- MB300000 turns ON.
" Servo ON command
"---------------------------------------
OB80000 = MB300000 & (IB80000 | IB80002); "Servo ON

"---------------------------------------
" Alarm reset
"---------------------------------------
OB8000F = MB300001; "Alarm reset

"---------------------------------------------------------------------------
" Speed unit & Acceleration/deceleration unit selection
"
" Bit 0 to 3: Speed unit selection (0: reference unit/s, 1: Reference unit/min., 2: Designated in %)
" Bit 4 to 7: Acceleration/deceleration unit selection (0: Reference unit /s2, 1: ms)
"---------------------------------------------------------------------------
DW00010 = OW8003 & FF00H; "Function setting 1 work
OW8003 = DW00010 | 0011H; "Function setting 1

"---------------------------------------
" Linear acceleration/deceleration setting
"---------------------------------------
IF MB300020 == 1;
OL8036 = 100; "Linear acceleration rate/Acceleration time constant
OL8038 = 100; "Linear deceleration rate/Deceleration time constant
IEND;

RET;

A-19
 Appendices
B.5 Sequence Programs

Sequence subprogram (SPS003)

"SPS003: JOG & STEP operation process "

"---------------------------------------
" JOG operation
"---------------------------------------
IF IB80001 & ( (DB000010 & !DB000011) | (!DB000010 & DB000011) ) == 1;
DB000000 = 1;
ELSE;
DB000000 = 0; Starts JOG operation Starts JOG operation
IEND; (forward rotation) when (reverse rotation) when
DB000010 turns ON. DB000011 turns ON.
DB000001 = PON( DB000000 DB000050 ) & MB300010; "JOG operation starts
DB000002 = NON( DB000000 DB000051 ); "JOG operation stops

IF DB000001 == 1;
OL8010 = 1000;
OW8008 = 7; " Motion command FEED
IEND;
IF DB000002 == 1;
OW8008 = 0; " Motion command NOP
IEND;

"---------------------------------------
" STEP operation
"---------------------------------------
IF IB80001 & ( (DB000012 & !DB000013) | (!DB000012 & DB000013) ) == 1;
DB000008 = 1;
ELSE;
DB000008 = 0; Starts STEP operation Starts STEP operation
(forward rotation) when (reverse rotation) when
IEND; DB000013 turns ON.
DB000012 turns ON.
DB000009 = PON( DB000008 DB000058 ) & MB300010; "STEP operation starts
DB00000A = NON( DB000008 DB000059 ); "STEP operation stops

IF DB000009 == 1;
OL8010 = 1000; " STEP speed setting
OW8044 = 1000; "STEP moving amount setting (1000 pulses)
OW8008 = 8; " Motion command STEP
IEND;

IF DB00000A == 1;
OW8008 = 0; " Motion command NOP
IEND;

"---------------------------------------
" Reverse rotation selection
"---------------------------------------
OB80092 = ( DB000000 & DB000011 ) | ( DB000008 & DB000013 ); "Reverse rotation selection

RET;

A-20
 C Differences between MP900 Series and MP2000 Series Machine Controllers

C Differences between MP900 Series and MP2000 Series

Machine Controllers
This section describes motion program differences between the MP900 series and the MP2000 series Machine
Controllers.

C.1 Motion Programs

Item MP900 Series MP2000 Series Remarks
Number of simultaneously execut-
Number of tasks No limitation 16 tasks
able programs
MP910: 28 axes
Group definition MP920: 48 axes
16 axes −
Max. number of axes per group MP930: 14 axes
MP940: 1 axis
Work size of MSEE command
2 words 4 words See 4.3.3 Work Registers.
in ladder programs
Enabled or disabled can be
Interpolation override Always enabled See 4.3.3 Work Registers.
selected.
Designated in the Designated using the 3rd
Register for interpolation over-
Group Definition word of an MSEE work See 4.3.3 Work Registers.
ride value designation
dialog box. register.
Program execution registration
Can not be used with MP2300,
function Not supported Supported
CPU-01 or CPU-02.
(M-EXECUTOR Module)
Nesting of PFORK command
(PFORK execution during Permitted Prohibited −
parallel processing)
Axis move command in the
Prohibited Permitted −
two parallel subprograms
Subprogram call (MSEE) from
Permitted Prohibited −
the two parallel subprogram
Numbers below decimal point
Cut-down (Truncate) or The default for the MP2000 series is
when real number data is Rounded-off
rounded-off (Rounding) cut-down.
stored in an integer register

C.2 Sequence Programs

Item MP900 Series MP2000 Series Remarks
Can not be used with MP2300,
Applicable/Not applicable Not applicable Applicable
CPU-01 or CPU-02.

A-21
 Appendices
C.3 Motion Programming Commands

C.3 Motion Programming Commands

Item MP900 Series MP2000 Series Remarks
• Executable with
SVA-01, SVA-02,
and SVB-01 Mod-
ACC, DCC Executable −
ules.
• Unexecutable with
PO-01 Module.
• Executable with
SVB-01.
SCC • Unexecutable with Executable −
SVA-01, SVA-02,
and PO-01.
Can be selected from:
• Depends on the difference in functions
• 10n reference units/min.
Speed unit for VEL 10nreference units/ between MP900 series Motion Modules and
command • Reference units/s MP2000 series Motion Modules.
min.
• 0.01% • See 8.1.6 Set Velocity (VEL).
• 0.0001%
Speed unit for VEL
MP920 PO-01 Module:
command when the • Depends on the difference in functions
100 pulses/min.
reference unit is set to between MP900 series Motion Modules and
pulse Motion modules other 1000 pulses/min.
MP2000 series Motion Modules.
than MP920 PO-01:
(10n reference units/ • See 8.1.6 Set Velocity (VEL).
1000 pulses/min.
min.)
MP930 SVB module:
Acceleration/decelera- Can be selected from
tion time (ms) calcu- followings:
• Depends on the difference in functions
lated on the base of the • Acceleration/decelera-
Acceleration/Deceler- between MP900 series Motion Modules and
feed speed tion time (ms) calcu-
ation rate designation MP2000 series Motion Modules.
Modules other than lated on the base of the
method for ACC and rated speed • See 8.1.3 Acceleration Time Change (ACC)
MP930 SVB Module:
DCC commands and 8.1.4 Deceleration Time Change
Acceleration/decelera- • Acceleration/decelera-
(DCC).
tion time (ms) calcu- tion rate
lated on the base of the (reference unit/s2)
rated speed
Unit of moving amount
Depends on the difference in functions
specified for external
In unit of pulse In reference unit between MP900 series Motion Modules and
positioning command
MP2000 series Motion Modules.
EXM

C.4 Group Definitions

Item MP900 Series MP2000 Series Remarks
Group definition
saving operation while Prohibited Permitted −
online
Possible
Automatic generation (Can be specified in the
Not possible −
of ladder program Group Definition dia-
log box.)

A-22
 C Differences between MP900 Series and MP2000 Series Machine Controllers

C.5 Debug Function

Item MP900 Series MP2000 Series Remarks
Single-block operation Axis move commands
All commands −
applicable commands only
By coding an SNG
By executing SNGD and See 8.4.14 Single-block Signal Disabled
Designation to ignore command for each
SNDE commands in the (SNGD)/Single-block Signal Enabled
single-block signal block that ignores the
enclosed blocks. (SNGE).
single-block signal
Number of settable
1 4 −
break points

C.6 Motion Program Alarms

Item MP900 Series MP2000 Series Remarks
Storage designated in
Motion program alarm
the Group Definition S register See 10.2.3 Confirming the Alarm Code.
storage
dialog box

A-23
 Appendices
D.1 General Precautions

D Precautions
D.1 General Precautions
(1) Saving the Changes in Programs to the Flash Memory
After changing an application such as a motion program or sequence program, always save the changed applica-
tion to the flash memory. If the changed application is not saved to the flash memory and the power to the
Machine Controller is turned OFF, the changed application will be lost.

(2) Prohibited Use of Debug Function for a System in Operation

Never use the debug function for a system in operation. Debugging will cause changes in program operation,
such as in command execution timing, resulting in malfunction or failure of the system.
For debugging, use the exclusive system for debugging.

(3) Differences in Axis Operation When an Alarm Occurs for One or More Axes Specified
in an Axis Move Command
If an alarm occurs in one or more axes specified in an axis motion command in an MP2000-series motion pro-
gram, the axes for which alarms do not occur may not stop. Create the required interlocks in the application.
Motion program operation when an alarm occurs for one or more axes specified in an axis move command is
described in the following table.
Axes for Which
Axis Move Axes for Which
Alarms Do Not Motion Program Operation
Command Alarms Occur
Occur
Positioning (MOV)
Move to target posi- References continue to axes without alarms and they
or Set-time Posi- Stop.
tions. move to the target positions.
tioning (MVT)
External Position- References continue until bit 8 (Command Execution
Stop. − Completed) in IW09 (Motion Command Status)
ing (EXM)∗ turns ON.
Zero Point Return References continue until bit 5 (Zero Point Return
Stop. Move to zero point. (Setting) Completed) in IW0C (Position Man-
(ZRN)∗ agement Status) turns ON for all specified axes.
Linear Interpolation A motion program alarm (84h: Duplicated Motion
(MVS), Circular In- Stop. Command) occurs and references to all specified
terpolation/Helical axes are stopped.
Interpolation
Stop.
(MCW and MCC),
or Linear Interpola- Move to target posi- References continue to axes without alarms and they
tion with Skip tions. move to the target positions.
Function (SKP)

* An alarm does not occur and the motion program execution block does not change to the next block. Therefore,
you must execute a program reset or alarm reset request after a program stop request is executed.

A-24
 D Precautions

D.2 Precautions on Motion Parameter Settings

(1) Set bit 5 (Position reference type) of motion setting parameter OW09 to
Incremental value add method
When using a motion program, always set bit 5 (Position reference type) of motion setting parameter OW09
to Incremental value add method. Motion programs manage position information using the incremental value
add method. Therefore, operation using a motion program cannot be guaranteed if bit 5 of motion setting param-
eter OW09 is set to Absolute value set method.

With a motion program, an ABS or INC command is used to set the absolute mode or incremental mode:
Code an ABS command to set the absolute mode (ABS).
Code an INC command to set the incremental mode (INC).

Absolute mode (ABS) Incremental mode (INC)

The reference position is treated as the target position. The reference position is treated as the relative moving amount from
program current position.
Coordinate Coordinate
words words
ABS; INC;
MOV [Logical axis 1] Reference position 1 MOV [Logical axis 1] Reference position 1
[Logical axis 2] Reference position 2 ; [Logical axis 2] Reference position 2 ;
Logical axis 2 Logical axis 2

Target position

Target position
Reference
position 2 Reference
position 2

Program Program
current position current position Reference
position 1
Logical axis 1 Logical axis 1
Reference
position 1

Fig. D.1 Movement Modes for Axis Move Commands

A-25
 Appendices
D.2 Precautions on Motion Parameter Settings

(2) Do not access a motion register from the I/O register by using a subscript
I/O registers and motion registers are not assigned to consecutive memory locations.
Therefore, when using a subscript, access is limited within the respective register range of I/O register and
motion register.

IW0000/OW0000

Can access
I/O registers

IW7FFF/OW7FFF
Cannot access
Example:
‫ޓޓ‬I = 1;
IW8000/OW8000 ‫ޓޓ‬OW7FFFi = 0;

Motion registers

Can access

IWFFFF/OWFFFF

A-26
 D Precautions

(3) Do not access a motion register of a different circuit by using a subscript

As with the relationship between I/O registers and motion registers, motion registers of different circuits are not
assigned to consecutive memory locations.
Therefore, when using a subscript, access is limited within the same motion register range of each circuit.
If the circuit numbers of two registers are the same, it is possible to access a register of a different axis.
Circuit No. Axis 1 Axis 2  Axis 16
1 OW8000 to OW807F OW8080 to OW80FF  OW8780 to OW87FF
2 OW8800 to OW887F OW8880 to OW88FF  OW8F80 to OW8FFF
3 OW9000 to OW907F OW9080 to OW90FF  OW9780 to OW97FF
4 OW9800 to OW987F OW9880 to OW98FF  OW9F80 to OW9FFF
5 OWA000 to OWA07F OWA080 to OWA0FF  OWA780 to OWA7FF
6 OWA800 to OWA87F OWA880 to OWA8FF  OWAF80 to OWAFFF
7 OWB000 to OWB07F OWB080 to OWB0FF  OWB780 to OWB7FF
8 OWB800 to OWB87F OWB880 to OWB8FF  OWBF80 to OWBFFF
9 OWC000 to OWC07F OWC080 to OWC0FF  OWC780 to OWC7FF
10 OWC800 to OWC87F OWC880 to OWC8FF  OWCF80 to OWCFFF
11 OWD000 to OWD07F OWD080 to OWD0FF  OWD780 to OWD7FF
12 OWD800 to OWD87F OWD880 to OWD8FF  OWDF80 to OWDFFF
13 OWE000 to OWE07F OWE080 to OWE0FF  OWE780 to OWE7FF
14 OWE800 to OWE87F OWE880 to OWE8FF  OWEF80 to OWEFFF
15 OWF000 to OWF07F OWF080 to OWF0FF  OWF780 to OWF7FF
16 OWF800 to OWF87F OWF880 to OWF8FF  OWFF80 to OWFFFF

Axis 1 (IW8000 to IW807F,OW8000 to OW807F)

Can access
Axis 2 (IW8080 to IW80FF,OW8080 to OW80FF)
Example:
࡮ ‫ޓޓ‬I = 1;
Circuit ࡮
1 ‫ޓޓ‬OW807Fi = 0;
࡮
࡮
Axis 16 (IW8780 to IW87FF,OW8780 to OW87FF)

Cannot access
Example:
Axis 1 (IW8800 to IW887F,OW8800 to OW887F) ‫ޓޓ‬I = 1;
Axis 2 (IW8880 to IW88FF, OW8880 to OW88FF) ‫ޓޓ‬OW87FFi = 0;
࡮
Circuit ࡮
2 ࡮
࡮
Axis 16 (IW8F80 to IW8FFF,OW8F80 to OW8FFF)

A-27
 Appendices
D.2 Precautions on Motion Parameter Settings

(4) Do not change the motion setting parameter OL1C “Position reference setting”
while axis motion is in progress in a motion program.
If OL1C “Position reference setting” is changed in another program (e.g. a ladder program) while axis
motion is in progress in a motion program, the axes will move in accordance with the change. This will result in
a discrepancy between the actual position and the position specified in the motion program.
Example:
If the travel distance of the A1 axis specified by OL1C “Position reference setting” in the motion program
below is changed from +1000 to +1500 while executing (a) in the motion program, the A1 axis moves to the
position +1500. At this point a discrepancy arises in relation to the reference position in the motion program
(+1000). Then (b) in the motion program will be executed. As a result, the actual final position of the A1 axis will
be at a different position from that specified in the motion program.

INC;
ZRN [A1]0;

MOV [A1]1000; • • • (a)

MOV [A1]1000; • • • (b)

END;

Position that the motion

(a) (b)
program specifies
Change in
travel in the Discrepancy
ladder in final
Actual position of (a) program (b) position
the axis

0 1000 1500 2000 2500

A-28
 Index

Index axis control commands- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-92

axis move commands- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-60
Axis No. - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-14
axis operation monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-31
Axis Operation Monitor function - - - - - - - - - - - - - - - - - - - - - - - 1-7
Symbols Axis Operation Monitor/Alarm Monitor function - - - - - - - - - - - - 2-5
axis setting commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3
^ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-140
axis status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-33
- (subtract) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-133
! - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-141 axis type selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9, 8-5
* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-134 B
/ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-135
basic flow of troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - 10-2
& - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-139
basic functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-150
# register - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-4, 6-2, 8-118
Batch transfer - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11
+ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-132
BCD - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-150, 8-160
< - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-142
BCD data- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-159, 8-160
<= - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-142
BCD to Binary (BIN)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-159
<> - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-142
BIN- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-159
= - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-131
binary data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-159, 8-160
== - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-142
binary data conversion - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-150
> - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-142
Binary to BCD (BCD) - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-160
>= - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-142
bit- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3
| - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-137
Bit Left Shift (SFL) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-145
Numerics Bit Right Shift (SFR) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-144
0.0001% of rated speed- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-12 BLK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-146
block- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2, 9-4
0.01% of rated speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-12
block format- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
10n reference unit/min. - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-12
Block Move (BLK) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-146
A block number - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -10-12
ABS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-3 branching commands (IF ELSE IEND)- - - - - - - - - - - - - - - - - -8-101
ABS mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3 Break - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-19
absolute mode (ABS) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3 break point setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
ACC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-11 built-in SVB- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8, 2-2
Acceleration Time Change (ACC) - - - - - - - - - - - - - - - - - - - - - 8-11
C
acceleration time/deceleration time- - - - - - - - - - - - - - - - - - - - - 8-30
C registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4, 6-13
acceleration/deceleration degree unit selection - - - - - - - - - - - - - 7-12
Acceleration/Deceleration Mode with Continuous Process C variables (C registers) - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-13
Control Signal Monitoring - - - - - - - - - - - - - - - - - - - - - - - - - - 8-48 C-Language Function Call (CFUNC) - - - - - - - - - - - - - - - - - - -8-174
Acceleration/Deceleration Mode with Interpolation C-Language Task Control (CTSK) - - - - - - - - - - - - - - - - - - - - -8-172
Overlapping - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-52 call - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8
acceleration/deceleration setting- - - - - - - - - - - - - - - - - - - - - - - 7-12 center point position - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-70
acceleration/deceleration type - - - - - - - - - - - - - - - - - - - - 8-61, 8-67 center position designation - - - - - - - - - - - - - - - - - - - - - - 8-69, 8-79
ACCMODE - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-46 CFUNC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-174
ACS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-155 character
add (+) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-132 D - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5
Add Register- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-21 F - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5
alarm code - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-12 MPS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-6
alarm code list for motion program - - - - - - - - - - - - - - - - - - - - 10-15 N - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5
alarm display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-35 P - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5
alarm reset request - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8 R - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5
allocated interlock contact- - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12 SPS- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-6
Allocation DISABLE - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-14 SS- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5
Allocation register - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-12 T - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5
AND (&) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-139 U - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5
APOS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-96 V - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5
Arc Cosine (ACS) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-155 W - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-5
Arc Sine (ASN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-154 child drawing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
Arc Tangent (ATN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-156 Circuit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-13
arithmetic operations - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-131 circular interpolation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-13
ASCII - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-148 Clear (CLR) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-147
ASCII code- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-148 Clockwise/Counterclockwise Circular Interpolation with Center
ASCII Conversion 1 (ASCII)- - - - - - - - - - - - - - - - - - - - - - - - 8-148 Position Designation (MCW, MCC) - - - - - - - - - - - - - - - - - - - - 8-69
ASN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-154 Clockwise/Counterclockwise Circular Interpolation with Radius
Designation (MCW, MCC) - - - - - - - - - - - - - - - - - - - - - - - - - - 8-75
ATN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-156
axis alarm monitor - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-31, 9-33 Clockwise/Counterclockwise Helical Interpolation with Center
Position Designation (MCW, MCC) - - - - - - - - - - - - - - - - - - - - 8-79

Index-1
 Index

Clockwise/Counterclockwise Helical Interpolation with Radius executing program number - - - - - - - - - - - - - - - - - - - - - - 4-14, 4-15
Designation (MCW, MCC) - - - - - - - - - - - - - - - - - - - - - - - - - - 8-82 executing the programs- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-14
CLR- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-147 execution method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3, 2-4
command format - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-8 execution registry screen- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8
command input assistant - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-6 execution scans - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-17
Command Input Assistant function - - - - - - - - - - - - - - - - - -1-7, 1-16 Execution type - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-13
command input assistant function - - - - - - - - - - - - - - - - - - - - - - - 2-5 EXM - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-90
command types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-17 external function register - - - - - - - - - - - - - - - - - - - - - - - - - - 8-118
comment check box and comment input field - - - - - - - - - - - - - - 9-10 External Positioning (EXM) - - - - - - - - - - - - - - - - - - - - - - - - - 8-90
comments - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2, 7-6 external positioning signal- - - - - - - - - - - - - - - - - - - - - - - - - - - 8-91
communication settings- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
compiling - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6 F
composite moving amount - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-65 F designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-37, 8-66
configuration of motion program alarms - - - - - - - - - - - - - - - - 10-15 Falling Pulse (NON) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-165
confirming the alarm code - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-9 filter time constant - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-24
constant registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2, 8-118 filter type selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-28
constants- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7 finite length axis - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9, 8-5
control signal- - - - - - - - - - - - - - - - - - - - - - - - - - - -4-8, 9-14, 10-12 FMX - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-35
Coordinate Plane Setting (PLN) - - - - - - - - - - - - - - - - - - - - - - 8-100 Forced end - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-19
coordinate words - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2, 7-4 Fork number - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-20
COS- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-152 FUNC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-123
Cosine (COS) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-152 function input register - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-118
creating a motion program - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6 function keys - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-16
creating project files - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-4 function output register- - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-118
CTSK- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-172 Function selection flag 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-5
Current Position Set (POS) - - - - - - - - - - - - - - - - - - - - - - - - - - 8-92
G
D global variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4, 7-7
D registers- - - - - - - - - - - - - - - - - - - - - - - - - - 2-4, 6-2, 6-14, 8-118 grandchild drawing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
D variables (D registers) - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14 group definitions - - - - - - - - - - - - - - - - - - - - - - - - - -1-11, 3-5, 7-13
data comparison commands - - - - - - - - - - - - - - - - - - - - - - - - - 8-142 Group Name - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-13
data operations- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-144 group selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4
data registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2, 8-118 groups - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11
data types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3, 8-116
data variables (M registers) - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-8
H
DCC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-6, 8-17 H drawing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
Debug function - - - - - - - - - - - - - - - - - - - - - - - 1-7, 1-16, 2-5, 9-15 handling system- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
debug mode- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12, 9-17 Help button- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-11
debugging the program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12 hexadecimal integers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7
Deceleration Time Change (DCC) - - - - - - - - - - - - - - - - - - - - - 8-17 high-speed processing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3
decimal integers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7 high-speed processing drawing - - - - - - - - - - - - - - - - - - - - - - - - 1-9
DEFAULT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-109 how to directly change the acceleration time setting - - - - - - - - - 8-16
deg- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9 how to directly change the deceleration time setting - - - - - - - - - 8-22
degree - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-150 I
direct designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-4, 9-13
I registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4, 6-9
divide (/)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-135
I/O services - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10
double integer - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3
I/O Variable Wait (IOW) - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-127
Drive control panel- - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-5, 9-24
IAC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-40
Drive control panel function- - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
IDC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-43
Dwell Time (TIM) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-126
IF ELSE IEND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-101
E IFP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-37
easy programming functions - - - - - - - - - - - - - - - - - - - - - -1-7, 1-16 in debug mode- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7, 5-5
electronic gear - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-10, 8-33 in-position check - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-62, 8-64
encoder cable- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3 In-Position Check (PFN)- - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-96
END - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-124 in-position check width- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-98
end of block - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2, 7-6 INC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-7
end position- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-70 inch - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9
EOX - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-129 incremental mode (INC) - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3, 8-7
error code - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15 indirect designation - - - - - - - - - - - - - - - - - - - - - - - -4-11, 5-4, 9-13
Error List dialog box- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-6 indirect designation of a program number using a register - - - - - 4-11
Execute - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-19 Individual transfer - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-11
executing block number - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15 infinite length axis - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9, 8-5
executing main program No. - - - - - - - - - - - - - - - - - - - - - - - - 10-12 Infinite Length Axis Reset Position - - - - - - - - - - - - - - - - - - - - - 7-9
executing program line - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-16 infinite length axis reset position (POSMAX)- - - - - - - - - - - - - - - 8-5
INP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-98

Index-2
 Index

input data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9 min. reference unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3

input registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2, 8-118 mm - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9
input variables (I registers) - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9 μm - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9
installation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2 MOD - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-136
installing MPE720 Version 6 - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3 monitor parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9
integer - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3 monitor tab and status bar- - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-5
internal function register - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-118 monitor the motion program execution information
interpolation acceleration time - - - - - - - - - - - - - - - - - - - - - - - - 8-41 using S register - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-13
Interpolation Acceleration Time Change (IAC) - - - - - - - - - - - - 8-40 monitoring parameter status - - - - - - - - - - - - - - - - - - - - - - - - - 9-34
interpolation deceleration time - - - - - - - - - - - - - - - - - - - - - - - - 8-44 Motion Editor - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7, 1-8, 3-6, 9-2
Interpolation Deceleration Time Change (IDC) - - - - - - - - - - - - 8-43 motion fixed parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9
Interpolation Feed Speed - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-37 motion language - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
interpolation feed speed (F command or IFP) - - - - - - - - - - - - - - 8-66 motion language command - - - - - - - - - - - - - - - - - - - - - - - - 7-2, 7-3
interpolation feed speed ratio - - - - - - - - - - - - - - - - - - - - - - - - - 8-38 motion module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8
Interpolation Feed Speed Ratio Setting (IFP) - - - - - - - - - - - - - - 8-37 motion module parameters - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9
interpolation override - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9 motion monitor parameter - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-9
interpolation related command - - - - - - - - - - - - - - - - - - - - - - - - 8-27 motion monitoring parameter selection - - - - - - - - - - - - - - - - - - 9-34
interpolation related commands - - - - - - - - - - - - - - - - - - - - - - - 8-37 motion parameters- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8
interrupt processing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3 motion program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3, 1-9
IOW - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-127 applicable machine controller models- - - - - - - - - - - - - - - - - 2-2
applicable motion modules - - - - - - - - - - - - - - - - - - - - - - - - 2-2
J application examples - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
JOG operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-30 axis groups- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
JOINTO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-106, 8-109 data transfer from/to ladder program - - - - - - - - - - - - - - - - - 1-5
Error information screen window- - - - - - - - - - - - - - - - - - - 10-9
L error investigation flow - - - - - - - - - - - - - - - - - - - - - - - - - 10-3
label - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2 execution information - - - - - - - - - - - - - - - - - - - - - - - - - - 4-14
ladder program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3 execution method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3
ladder program specifications - - - - - - - - - - - - - - - - - - - - - - - - - 2-3 execution registration- - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
leading register whose data is cleared - - - - - - - - - - - - - - - - - - 8-147 execution sequence - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8
line - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4 execution timing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-10
line number - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-13 format - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2
linear acceleration rate - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-13 grouping - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11
linear acceleration time constant - - - - - - - - - - - - - - - - - - - - - - 8-12 how to run a motion program - - - - - - - - - - - - - - - - - - - - - - 4-3
linear deceleration rate - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-19 motion control - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-4
linear deceleration time constant - - - - - - - - - - - - - - - - - - - - - - 8-18 parallel program execution - - - - - - - - - - - - - - - - - - - - - - - - 1-6
Linear Interpolation (MVS) - - - - - - - - - - - - - - - - - - - - - - - - - - 8-64 program online editing - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6
Linear Interpolation with Skip Function (SKP)- - - - - - - - - - - - - 8-86 registering the program execution - - - - - - - - - - - - - - - - - - - 4-5
list of command types- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-18 S Register - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -10-11
list of commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6 specification- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3
list of engineering tool MPE720 specifications - - - - - - - - - - - - - - 2-5 troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-3
list of machine controller specifications- - - - - - - - - - - - - - - - - - - 2-3 types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2
local variables - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-4, 7-7 use of subprograms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5
logic operation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-137 motion program alarm codes - - - - - - - - - - - - - - - - - - - - - - - - -10-11
logical axis name - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2, 7-3, 7-14 Motion Program Configuration Definition window- - - - - - - - - - - 6-5
low-speed processing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3 motion program execution timing - - - - - - - - - - - - - - - - - - - - - 1-10
M Motion Properties - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-14
motion setting parameter - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11
M registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-5, 2-4, 6-8
Motion Subprogram Call (MSEE) - - - - - - - - - - - - - - - - - - - - -8-113
M type commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-17
Motion Task Manager - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5, 9-22
M-EXECUTOR- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9
motor cable - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
M-EXECUTOR control register (I/O register) - - - - - - - - - - - - - - 1-9
MOV - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-60
M-EXECUTOR Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
Move On Machine Coordinates (MVM) - - - - - - - - - - - - - - - - - 8-94
M-EXECUTOR program execution definition - - - - - - - - - - - - - - 4-4
movement path by interpolation command and S-curve
machine coordinate system - - - - - - - - - - - - - - - - - - - - - - 8-84, 8-92
acceleration/deceleration - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-27
main program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2, 5-2 Moving Average Filter - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-28
Main program number - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-20
MP2100- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
main program number exceeded error - - - - - - - - - - - - - - - - - - - - 4-7
MP2100M - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
max. feed speed for interpolation - - - - - - - - - - - - - - - - - - - - - - 8-36 MP2200/CPU-01 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
Maximum Interpolation Feed Speed Setting (FMX) - - - - - - - - - 8-35
MP2200/CPU-02 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
MCC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-69, 8-75, 8-79
MP2200/CPU-03 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
MCW - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-69, 8-75, 8-79 MP2200/CPU-04 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
mechanical parts inserting machine - - - - - - - - - - - - - - - - - - - - 1-12
MP2300- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
MECHATROLINK cable - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
MP2300S- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
memory backed up by battery - - - - - - - - - - - - - - - - - - - - - - - - - 2-4 MP2310- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2
metal sheet bending equipment - - - - - - - - - - - - - - - - - - - - - - - 1-13

Index-3
 Index

MP2400 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 PJOINT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-106

MP2500 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 PLD - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-95
MP2500D - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 PLN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-100
MP2500M- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 PO-01 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8, 2-2
MP2500MD - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 PON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6
MPE720 Ver.5 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5 POS- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6
MPE720 Ver.6 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7, 2-5 position reference value - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3
MPE720 Ver.6 Lite - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-5 positioning (MOV) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-60
MPOS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-96 positioning related commands - - - - - - - - - - - - - - - - - - - - - - - - 8-29
MPU-01 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-2 positioning speed - - - - - - - - - - - - - - - - - - - - - - - - - 8-13, 8-19, 8-29
ms - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-12 POSMAX- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-5
MSEE - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-113 PP cable - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
MSEE call stack- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-20 precautions for variable operations - - - - - - - - - - - - - - - - - - - - - - 6-6
MSEE command - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 Priority Levels of Operations- - - - - - - - - - - - - - - - - - - - - - - - - 7-15
MSEE work register - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9 problem when starting a motion program- - - - - - - - - - - - - - - - - 10-4
multiple group operation - - - - - - - - - - - - - - - - - - - - - - - - -1-11, 4-2 procedure to create the user function- - - - - - - - - - - - - - - - - - - 8-120
multiply (*) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-134 program alarm is occurring - - - - - - - - - - - - - - - - - - - - - - - - 4-7, 5-5
MVM - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-6, 8-94 program capacity - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3
MVS - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-6, 8-64 program continuous operation start request - - - - - - - - - - - - - - - - 4-8
MVT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-6, 8-88 program control commands - - - - - - - - - - - - - - - - - - - - - - - - - 8-101
program control signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15
N program current position - - - - - - - - - - - - - - - - - - - - 8-3, 8-95, 10-12
NEAR signal output width- - - - - - - - - - - - - - - - - - - - - - - 8-96, 8-98 Program Current Position Update (PLD) - - - - - - - - - - - - - - - - - 8-95
Nest number - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-20 program designation method - - - - - - - - - - - - - - - - - - - - - - - - - 9-13
new project - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2 program development flow - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
no system work error - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7 program editing window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-4
NON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-165 program end (END) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-124
Normal run mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-17 program execution registration function - - - - - - - - - - 1-7, 2-5, 9-12
NOT (!) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-141 program execution registry number - - - - - - - - - - - - 4-13, 9-13, 9-26
number of axes to be controlled - - - - - - - - - - - - - - - - - - - -7-13, 9-9 program information used by work n - - - - - - - - - - - - - - - - - - - 4-15
number of blocks - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-147 program number - - - - - - - - - - - - - - - - - - - - - - - - 9-13, 9-26, 10-12
number of digits below decimal point - - - - - - - - - - - - - - - -7-9, 8-30 program numbers of motion programs- - - - - - - - - - - - - - - - - - - - 4-2
number of groups - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-3, 7-13 program numbers of sequence programs - - - - - - - - - - - - - - - - - - 5-2
number of parallel processes - - - - - - - - - - - - - - - - - - - - - - 2-3, 2-4 program operation start request - - - - - - - - - - - - - - - - - - - - - - - - 4-8
number of programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3 program pause request - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8
number of simultaneously controlled axes - - - - - - - - - - - - - - - - - 2-3 program paused - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7
number of tasks - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3, 2-4 Program Property window- - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-5
number of turns - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-72 program running - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7, 5-5
program single block mode selection - - - - - - - - - - - - - - - - - - - - 4-8
O
program single block start request - - - - - - - - - - - - - - - - - - - - - - 4-8
O registers- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-4, 6-11
program status- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-15
OFF-Delay Timer (TOF)
program stop request - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8
counting unit 0.01 second - - - - - - - - - - - - - - - - - - - - - - - 8-170 program stopped by stop request - - - - - - - - - - - - - - - - - - - - - - - 4-7
ON-Delay Timer (TON)
program type- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7, 5-5
counting unit 0.01 second - - - - - - - - - - - - - - - - - - - - - - - 8-168
programs created for each group - - - - - - - - - - - - - - - - - - - - - - 1-12
One Scan Wait (EOX)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-129 pulse - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-9
online editing- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-6
operation mode - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3 R
OR (|) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-137 R{ }- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-162
organizaing the axes into individual groups - - - - - - - - - - - - - - - - 3-5 radius- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-76
organizing the axes into individual groups - - - - - - - - - - - - - - - - - 3-5 radius designation - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-75, 8-82
output data - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-11 rated speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-12, 8-18
output registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2, 8-118 real number - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3, 7-7
output variables (O registers) - - - - - - - - - - - - - - - - - - - - - - - - - 6-11 reference position - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3
override - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-3, 8-32 reference range - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3
override setting for interpolation- - - - - - - - - - - - - - - - - - - - - - - - 4-8 reference unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3, 7-9
reference unit selection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-30
P
reference unit/s - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-12
palletizing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12 reference unit/s2 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-12
panel processing machine - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-13
register allocation - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-14
Parallel Execution (PFORK, JOINTO, PJOINT) - - - - - - - - - - - 8-106
register list - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2
parent drawing- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9 register start number of the motion monitor parameter - - - - - - - - 6-10
pausing/starting monitoring - - - - - - - - - - - - - - - - - - - - - - 9-33, 9-35
register start number of the motion setting parameter- - - - - - - - - 6-12
PFN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-6, 8-96
register types used within user functions - - - - - - - - - - - - - - - - 8-116
PFORK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-106 registering MPM001 in the M-EXECUTOR - - - - - - - - - - - - - - - 4-5
PFORK, JOINTO, PJOINT - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6

Index-4
 Index

registering the program execution- - - - - - - - - - - - - - - - - - - - - - - 3-7 SFORK, JOINTO, SJOINT- - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6

registering to the M-EXECUTOR program execution definition - - 4-4 SFR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-144
relationship between I/O registers and internal function shift start point - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-17
registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-117 SIN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-150
relative movement amount - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-7 Sine (SIN) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-150
remainder (MOD) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-136 single group operation - - - - - - - - - - - - - - - - - - - - - - - - - - 1-11, 4-2
Repeat (WHILE WEND) - - - - - - - - - - - - - - - - - - - - - - - - - - 8-103 single program block operation stopped - - - - - - - - - - - - - - - - - - 4-7
Reset Bit (R{ })- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-162 single-block operation mode - - - - - - - - - - - - - - - - - - - - - - - - -8-130
RET - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-125 Single-block Signal Disabled (SNGD)/Single-block Signal
Rising Pulse (PON) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-163 Enabled (SNGE) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-130
single-step linear acceleration/deceleration - - - - - - - - - - - - - - - 8-62
S SJOINT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-109
S registers- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4, 6-7 Skip 1 information- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8
S type commands- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-17 Skip 2 information- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-8
S-curve acceleration/deceleration - - - - - - - - - - - - - - - - - - - - - - 8-62 skip input signal - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-86
S-curve time constant - - - - - - - - - - - - - - - - - - - - - - - - - - 8-23, 8-26 skip input signal 1 (SS1)- - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-86
S-curve Time Constant Change (SCC) - - - - - - - - - - - - - - - - - - 8-23 skip input signal 2 (SS2)- - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-86
S{ } - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-161 SKP - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-86
sample program SNGD - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-130
motion program for speed control- - - - - - - - - - - - - - - - - - - A-16 SNGD/SNGE - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6
parallel processing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-15 SNGE - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-130
programs for controlling motion program execution - - - - - - A-13 software limit switch function - - - - - - - - - - - - - - - - - - - - - - - - 8-93
sequence programs - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-19 specific characters - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-2, 7-5
simple synchronized operation using a virtual axis - - - - - - - A-17 speed reference - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-12
Save to flash - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2 speed unit - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-30
saving the programs in flash memory - - - - - - - - - - - - - - - - - - - 3-13 Speed unit selection- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-12
Scan Execution - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3 SQT - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-157
scan execution type - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-15 Square Root (SQT) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-157
scan execution type program - - - - - - - - - - - - - - - - - - - - - - - - - 1-14 square roots - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-150
scanning error - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7 SSEE - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-114
SCC - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-23 start method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3, 2-4
select command (command options) - - - - - - - - - - - - - - - - - - - - - 9-8 start processing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3
Selective Execution (SFORK, JOINTO, SJOINT)- - - - - - - - - - 8-109 start request history - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7, 5-5
self-configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-2, 3-3 Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-14
sequence commands- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-15 status- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -10-12
sequence program - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-9 status flag - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7, 5-5
error investigation flow - - - - - - - - - - - - - - - - - - - - - - - - 10-17 step distance- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-30
execution - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-3 Step in - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-12, 9-18
execution method - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-15 STEP operation- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-30
execution timing - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4 Step over - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-18
features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-15 step-by-step execution - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7
format - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-19 stopped at a break point - - - - - - - - - - - - - - - - - - - - - - - - - - 4-7, 5-5
how to run a sequence program - - - - - - - - - - - - - - - - - - - - - 5-3 subprogram - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2, 5-2
M-EXECUTOR program definition - - - - - - - - - - - - - - - - - - 5-3 Subprogram End (RET) - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-125
motion languages- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-15 subroutines (subprograms) - - - - - - - - - - - - - - - - - - - - - - - 1-5, 1-16
registering program execution - - - - - - - - - - - - - - - - - - - - - - 5-4 subscript i - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15
specifications - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-4 subscript j - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-15
transfer from/to motion program - - - - - - - - - - - - - - - - - - - 1-15 substitute (=) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-131
troubleshooting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 10-17 subtract (-) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -8-133
types - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2 SVA-01 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8, 2-2
use of subprograms - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-16 SVB-01 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8, 2-2
Sequence Subprogram Call (SSEE) - - - - - - - - - - - - - - - - - - - 8-114 SVR - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8, 2-2
Sequential Execution - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-3 synchronization- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12
servomotor - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3 syntax error - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
SERVOPACK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3 system configuration - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
Set Bit (S{ }) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-161 system registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2, 8-118
Set In-Position Range (INP) - - - - - - - - - - - - - - - - - - - - - - - - - 8-98 system setup- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
Set Time Positioning (MVT) - - - - - - - - - - - - - - - - - - - - - - - - - 8-88 system variables (S registers) - - - - - - - - - - - - - - - - - - - - - - - - - 6-7
set to the arguments - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-9 system work - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -10-12
Set Velocity (VEL) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-29 system work number - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-9
Set/Delete break point - - - - - - - - - - - - - - - - - - - - - - - - - 9-18, 9-21 system work number setting - - - - - - - - - - - - - - - - - - - - - - 4-8, 4-13
Setting the execute task - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-20
setting the speed reference velue - - - - - - - - - - - - - - - - - - - - - - 9-30 T
SFL - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-145 T type commands - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-17
SFORK - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-109 TAN - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-153

Index-5
 Index

Tangent (TAN)- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-153

target position - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-3
Task execution status displayed in a tree structure - - - - - - - - - - - 9-23
terminator - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 3-3
test run function - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-7, 2-5, 9-28
TIM - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-126
TOF - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-170
TON - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-168
tool icons - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -9-5, 9-16
transfer - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-8
transferring the motion program - - - - - - - - - - - - - - - - - - - - - - - 3-10
trigonometric functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-150
types of variable- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2

U
UFC- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-115
Update current position - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-19
user function call - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-115, 8-123
User Function Call From Motion Program (UFC) - - - - - - - - - - 8-115
User Function Call from Sequence Program (FUNC) - - - - - - - - 8-123
user functions - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-3, 8-116

V
variable - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-2
using variables- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-7
variables and data types- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 7-7
VEL- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-6, 8-29
virtual axis - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-12

W
warning display - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 9-35
what is a motion program?- - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2
what is a sequence program? - - - - - - - - - - - - - - - - - - - - - - - - - 1-14
WHILE WEND - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 2-6, 8-103
work coordinate system- - - - - - - - - - - - - - - - - - - - - 8-3, 8-84, 8-92
work register - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-5
work registers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-6

X
XOR (^) - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-140

Z
Zero Point Return (ZRN)- - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-84
zero point return methods - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-85
zero point return speed - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 8-85
ZRN- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-6, 8-84

Index-6
Revision History

The revision dates and numbers of the revised manuals are given on the bottom of the back cover.

MANUAL NO. SIEP C880700 38A <0>-1

WEB revision number
Revision number
Published in Japan July 2009
Date of publication

WEB
Rev.
Date of Publication Rev. Section Revised Contents
No.
No.
May 2017 <3> 1 8.1.11 Revision: Descriptions on setting interpolation acceleration/deceleration mode
8.4.2 (3) Revision: Programming example of a repeat command
Back cover Revision: Address
May 2015 0 Front cover Revision: Format
– Printed version of the user’s manual that is available on the web (web version: SIEP
C880700 38D<2>-1)
4.3.3 (2) Revision: Information on program continuous operation start request
7.5.2, 8.1.11, Appen- Addition: Information on the ACCMODE command
dices A.1
Appendices D.1 (3) Addition: Precaution on motion program operation when an alarm occurs for one or
more axes specified in an axis move command
Back cover Revision: Format and address
July 2014 <2> 1 1.1, 1.8, 2.1.1, 2.1.3, Addition: Description of CPU-03, CPU-04 and MPU-01
2.2.2, C.1, C.2
May 2014 0 – Printed version of the user’s manual that is available on the web (web version:
SIEP C880700 38B<1>-5)
Back cover Revision: Address
July 2012 <1> 5 8.2.3 (3) Revision: Figure and INFO on interpolation feed speed
Back cover Revision: Address
November 2011 4 6.2.2 (3), 6.2.6 (3) Addition: VEL command in the column of important
June 2011 3 8.2.4 Revision: Descriptions on setting items for MCW and MCC commands.
April 2011 2 7.1.2 (5) Revision: Application example “TIM TML00000” → “TIM TMW00000”
November 2010 1 Front cover Revision: Format
8.4.11 (2) Revision: Usable data
Back cover Revision: Address, format
September 2010 0 – Printed version of the user’s manual, SIEP C880700 38<0>-2, available on the web.
All chapters Based on Japanese user’s manual, SIJP C880700 38B<2>, printed in December
2009.
Preface Addition: Warranty
D.2 (4) Addition: Precautions on the motion parameter
Back cover Revision: Address
September 2009 <0> 2 Preface Addition: Warranty
Back cover Revision: Address
July 2009 1 Appendices A.4 Revision: Descriptions in columns of sequence program for Branching command
and Repeat command
Back cover Revision: Address
September 2008 – – – First edition
Machine Controller MP2000 Series
USER’S MANUAL
for Motion Programming

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MANUAL NO. SIEP C880700 38D <3>-1

Published in Japan May 2017
17-4-13