Emotiontek MCU 2 Axis, User Manual

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Chapter 2. MC Programming
Division Command Function Type Example of use
Movement
MOV
Move by interpolation from the current position
to the target point, decelerate and then stop
MOV <position point>
MOV <L variable> <L
variable>
MOV P0
MOV L0 L1
IMOV
Move by interpolation from the current position
to the increment, decelerate and then stop
IMOV <position point>
IMOV <L variable> <L
variable>
IMOV P0
IMOV L0 L1
PTP
Move individually from the current position to
the target point, decelerate and then
stop(individual velocity)
PTP <position point>
PTP <L variable> <L
variable>
PTP P0
PTP L0 L1
IPTP
Move individually from the current position to
the increment, decelerate and then
stop(individual velocity)
IPTP <position point>
IPTP <L variable> <L
variable>
IPTP P0
IPTP L0 L1
XMOV
Move the X-axis only from the current position
to the target point, decelerate and then stop
XMOV <position point>
XMOV <L variable>
XMOV P0
XMOV L0
YMOV
Move the Y-axis only from the current position
to the target point, decelerate and then stop
YMOV <position point>
YMOV <L variable>
YMOV P0
YMOV L0
XIMOV
Move the X-axis only from the current position
to the increment, decelerate and then stop
XIMOV <position point>
XIMOV <L variable>
XIMOV P0
XIMOV L0
YIMOV
Move the Y-axis only from the current position
to the increment, decelerate and then stop
YIMOV <position point>
YIMOV <L variable>
YIMOV P0
YIMOV L0
CW
CW arc interpolation from the current
position(start point) to the target point(end
point)
CW <target point> <radius>
CW P0 P1
CW PL0 PL1
CCW
CCW arc interpolation from the current
position(start point) to the target point(end
point)
CCW <target point> <radius>
CCW P0 P1
CCW PL0 PL1
ICW
CW arc interpolation from the current
position(start point) to the increment(end
point)
ICW <increment> <radius>
ICW P0 P1
ICW PL0 PL1
ICCW
CCW arc interpolation from the current
position(start point) to the increment(end
point)
ICCW <increment> <radius>
ICCW P0 P1
ICCW PL0 PL1
PMOV Palletizing movement PMOV <data> <position>
PMOV L0 P0
PMOV L0 L10
PCLR Palletizing counter clear PCLR <data> PCLR L0
FOS Pre-execution of the next block
FOS <D variable
number(0~9)>
FOS <L variable>
FOS 0
FOS L0
RET Move to the home RET RET
IF
conditio
n
comparis
on
.EQ
Used for the comparison of ‘equal to(=)’in an
IF condition comparing sentence
IF <variable> .EQ
<variable>
<label name>
IF <variable> .EQ <number>
<label name>
IF L0 .EQ L1
LB1
IF L0 .EQ 0 LB1
.LE
Used for the comparison of ‘less than or equal
to(<=)’in an IF condition comparing sentence
IF <variable> .LE
<variable>
<label name>
IF <variable> .LE <number>
<label name>
IF L0 .LE L1
LB1
IF L0 .LE 0 LB1
.LT
Used for the comparison of ‘less than(<)’in
an IF condition comparing sentence
IF <variable> .LT
<variable>
<label name>
IF <variable> .LT <number>
<label name>
IF L0 .LT L1
LB1
IF L0 .LT 0 LB1
.GE
Used for the comparison of ‘greater than or
equal to(>=)’in an IF condition comparing
sentence
IF <variable> .GE
<variable>
<label name>
IF <variable> .GE <number>
<label name>
IF L0 .GE L1
LB1
IF L0 .GE 0 LB1
.GT
Used for the comparison of ‘greater
than(>)’in an IF condition comparing sentence
IF <variable> .GT
<variable>
<label name>
IF <variable> .GT <number>
<label name>
IF L0 .GT L1
LB1
IF L0 .GT 0 LB1