Yaskawa YASNAC PC NC Programming Manual - Manual (Page 76)

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YASNAC PCNC Programming Manual Chapter 3: Movement Control Commands
3.3 TIME-CONTROLLING COMMANDS
3.3.1 Dwell (G04)
It is possible to suspend the execution of axis move commands specified in the next block for the
specified length of time (dwell period).
By specifying “G04 P • • •;”, execution of programmed commands is suspended for the length of
time specified by address P.
• Command unit of address P is “1 = 0.001 see”. For example, a dwell period of 2.5 sec-
onds is specified by “G04 P2500;”. The block used to specify dwell must not include
commands other than G04 and P commands.
• The maximum programmable value with address P is indicated in Table 3.3.1.1.
Table 3.3.1.1 Dwell Period (Programmable Range of P)
Note: The value is independent of the input and output unit systems.
• The timing at which the dwell should start can be selected by the setting for parameter
(pm4015 D3) from “execution when the remaining number of pulses which have been
distributed in the previous block has reduced to the allowable limit” or “execution
immediately after the completion of pulse distribution”.
• Address X can be used instead of address P.
3.3.2 Exact Stop (G09)
If a block containing G09 is executed during cutting, and it calls the error detection ON mode; the
program advances to the next block in the error detection ON mode. This function is used to cut a
comer with a sharp angle. G09 is a non-modal G code and valid only in the specified block.
Format Programmable Range of Dwell Period (P)
P63 0 to 999999.999 sec