Yaskawa MotionSuite Series Machine Controller Programming Manual - Manual (Page 110)

MotionSuite™ Series Machine Controller Programming Manual Chapter 3: Advanced Programming Methods
3-25
Important Points
(1) The WHILE WEND command can be nested up to 8 levels.
(2) If the repeated program section is created using only commands for which processing
is completed in one scan, an infinite loop is created and a watchdog timer error
(system error) is generated. Therefore, when using the 1-scan command, the EOX
command (1-scan Wait command) must be set.
(3) Commands that cannot be ended by the 1-scan command:
MOV, MOS, MCW/MCC, ZRN, SKP, MVT, EXM, ACC, SCC, PFN, VEL, INP, TIM,
IOW
(4) Commands that can be ended by the 1-scan command:
ABS, IWC, IFP, PLN, IAC, IDC, FMX, POS, PLD, MSEE, END, RET, IF, WHILE,
PFORK, SFORK, and all of the sequence commands.
! Program Example
In the following program example, ten circular arcs (each with a radius of 50) are drawn.
MOV [axis1]0 [axis2]0;
MW0001=1;
INC;
PLN [axis1] [axis2];
WHILE MW0001
<=10;
MCW [axis1]0 [axis2]0 U50. V50. F8000;
MOV [axis1]50. [axis2]50.;
MW0001=MW0001+1;
WEND;
← Positioning
←Counter Preset
← Incremental mode designation
← Coordinate plane designation
← Repeat Command
← Circular Interpolation
← Positioning
← Counter Preset
← Repeat Command End
(0,0)
50
Cir. 1
Cir. 2
Cir. 3
Cir. 9
Cir. 10
+axis2
+axis1