Yaskawa YASNAC PC NC Programming Manual - Manual (Page 242)

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YASNAC PCNC Programming Manual Chapter 4: Enhanced Level Commands
4.3.2 Program interrupt Function (M90, M91)*
The M codes are used for the program interrupt function indicated in Table 4.3.2.1.
Table 4.3.2.1 M Codes Used for Calling Up and Canceling the Program Interrupt
Function
M90 and M91P should be specified in a block without other commands. If other commands such
as axis move commands are specified with M90 or M91P in the same block, alarm “0112“ occurs.
(1) Command Format
(a) Start of interruption (M91)
By specifying “M91P • • •;”, if the program interrupt signal goes ON during the execution
of the program before the execution of M90, the program presently executed is interrupted
(axis move is decelerated and stopped), and the program jumps to the one specified by P.
M code Description
M90 Canceling the program interrupt function
M91 Calling up the program interrupt function