Yaskawa MotionSuite Series Machine Controller Programming Manual - Manual (Page 40)

MotionSuite™ Series Machine Controller Programming Manual Chapter 1: Motion Programmming Outline
1-31
S
eque
nc
e C
om
m
a
n
ds
(c
ont
inue
d)
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.
Cont
rol Com
m
a
nd
s
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.
IF
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