Yaskawa MotionSuite Series Machine Controller Programming Bedienungsanleitung PDF herunterladen (Seite 40)

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

1-31

Sequence Commands (continued)

SFR Shift Right SFR MB— N— W—; Shifts the word variable a desig-

nated amount to the right.

SFL Shift Left SFL MB— N— W—; Shifts the word variable a desig-

nated amount to the left.

PON Start-up

Detection

PON (MB— MB—); A designated bit goes ON upon

start-up detection.

NON Shutdown

Detection

NON (MB— MB—); A designated bit goes ON upon

shutdown detection.

BLK Block

Transmis-

sion

BLK MW— MW— MW—; Transmits a range of blocks

(parameter designation) as the

start of a designated bit (word)

variable.

CLR Clear CLR MB— W—; Sets a group of variables to the

designated parameter OFF (0) as

the start of a designated bit

(word) variable.

Control Commands

MSEE Sub-pro-

gram Call-

out

MSEE MPS— 0; Executes an MPS sub-program.

TIM Timed Wait TIM T—; Waits for the time designated in T

only, then proceeds to the next

block.

IOW I/O Variable

Wait

IOW MB— == ***; Stops motion program execution

until the I/O variables fulfill con-

ditions.

END Program

END

END; Ends the motion program.

RET Sub-pro-

gram END

RET; Ends a sub-program.

ELSE

IEND

Branch

Commands

IF (conditional);

(process 1)

ELSE;

(process 2)

IEND;

Executes (process 1) if the condi-

tions are satisfied, and executes

(process 2) if the conditions are

not satisfied.

WHILE

WEND

Repeat

Commands

WHILE (conditional);

...

WEND;

Repeatedly executes

WHILE~WEND processing

while certain conditions con-

tinue to be satisfied.

PFORK

JOINTO

PJOINT

Parallel

Execution

Commands

PFORK Label 1, Label 2...;

Label 1: Process 1

JOINTO label X

Label 2: Process 2

JOINTO label X

Label ·

Label X: PJOINT;

Parallel executes a block desig-

nated by a label. No more than

two labels can be designated in

the case of sub-programs. Fur-

thermore, motion program com-

mands cannot be used in a block

selected by two labels. END and

RET cannot be used during paral-

lel processing execution.

Type Command Name Command Format Function/Meaning

1 2 ... 35 36 37 38 39 40 41 42 43 44 45 ... 186 187

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