Yaskawa LEGEND-MC - Manual (Page 134)

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LEGEND-MC User’s Manual
HS (Handle Switch)
[Configuration]
DESCRIPTION:
The HS command is used to switch the handle assignments between two handles. Handles are assigned by
the controller when the handles are opened with the HC command, or are assigned explicitly with the IH
command. Should those assignments need modifications, the HS command allows the handles to be
reassigned. This command is very useful if the program uses commands such as SB, CB, MB, and SA which
imply that a specific handle is to be used.
ARGUMENTS: HS a=b where
a = the first handle of the switch (A - P)
b = the second handle of the switch (A - P)
USAGE:
RELATED COMMANDS:
EXAMPLES:
This example demonstrates a master controller, M2, searching for other controllers on each handle and
forcing them to communicate at a specific handle. This is necessary when using the
@IN (Input) , SB (Set
Bit) , CB (Clear Bit) , SA (Send Command) or MB (Modbus) commands, because they reference specific
handles.
The Jump condition logic below ((_IHA0+4)<>_IA)|(_IHA2<>-2) is basically running the SH (Servo
Here) command on the given line if the IP address is not equal to the controller own IP address + 4 and if
the connection type is not TCP/IP.
),1'B0
-3),1'B0 B,+$ !B,$ _ B,+$ ! -3),1'B0
-3),1'B0 B,+% !B,$ _ B,+% ! +6% $ -3),1'B0
-3),1'B0 B,+& !B,$ _ B,+& ! +6& $ -3),1'B0
-3),1'B0 B,+' !B,$ _ B,+' ! +6' $ -3),1'B0
-3)B0B'1 B,++ !B,$ _ B,++  +6+ $ -3),1'B0
)B0B'1 $%
),1'B0
While Moving Yes Default Value n/a
In a Program Yes Default Format n/a
Command Line Yes
Can be Interrogated No
Used as an Operand No Distributed Control No, Local
"HC" Handle Connect
“HR” Handle Restore
“IH” Internet Handle
HSC=D Connection for handle C is assigned to handle D. Connection for
handle D is assigned to handle C.