Yaskawa MP940 Reference Manual - Manual (Page 23)

MotionSuite™ MP940 Machine Controller Reference Manual Specifications and Functions
2-13
The “—” symbol in MOV [axis1]— •••; signifies where the numerical data for [axis1] is recorded.
Control
Co
mma
nds
CLR Clear CLR MB W; The parameter designator num-
ber goes OFF (0) for a variable
group in which the designated
bit (word) variables are
assumed to be started.
MSEE Sub-program Call-out MSEE MPS ; Executes MPS sub-program.
TIM Timed Wait TIM T; Waits for the time designated in
“T”, and proceeds to the next
block.
IOW I/O Variable Wait IOW MB == ∗∗∗; Stops motion control program
execution until the conditional
formula is satisfied.
END Program Close END; Closes the motion program.
RET Sub-program Close RET; Closes the sub-program.
EOX 1 scan WAIT com-
mand EOX; This command is for cutting into
a continuing sequence com-
mand during operation, and
forcing a single scan wait.
IF
ELSE
IEND Branching Com-
mands IF (conditional formula);
(process 1)
ELSE;
(process 2)
IEND; (Process 1) is performed if the
conditional formula is satisfied,
and (process 2) if it is not.
WHILE
WEND Repetition Com-
mands WHILE (conditional
formula);
•••
WEND; Repeats execution of
WHILE~WEND processing the
conditional formula is satisfied
and continues operating.
SFORK
JOINTO
SJOINT Selection Execution
Commands SFORK conditional for-
mula 1? label 1,
conditional formula 2?
label 2, •••;
label 1: Process 1
JOINTO label
xlabel 2: Process 2
JOINTO label
xlabel •
•label x: SJOINT;
(Process 1) is performed if the
conditional formula 1 is satis-
fied, and (process 2) if condi-
tional formula 2 is satisfied.
Type Command Name Command Format Function/Meaning