Yaskawa LEGEND-MC - Manual (Page 295)

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LEGEND-MC User’s Manual
When an event trigger instruction is decoded, however, the actual program sequence is halted. The
program sequence does not continue until the event trigger is "tripped". For example, the motion
complete trigger can be used to separate two move sequences in a program. The commands for the
second move sequence will not be executed until the motion is complete on the first motion sequence. In
this way, the LEGEND-MC can make decisions based on its own status or external events without
intervention from a host computer.
LEGEND-MC Event Triggers
Command Function
AM X Y Z W or S
(A B C D E F G H)
Halts program execution until motion is complete on the
specified axes or motion sequence(s). AM with no
parameter tests for motion complete on all axes. This
command is for separating motion sequences in a
program.
AD X or Y or Z or W
(A or B or C or D or E or F or G or
H)
Halts program execution until position command has
reached the specified relative distance from the start of
the move. Only one axis may be specified at a time.
AR X or Y or Z or W
(A or B or C or D or E or F or G or
H)
Halts program execution until after specified distance
from the last AR or AD command has elapsed. Only one
axis may be specified at a time.
AP X or Y or Z or W
(A or B or C or D or E or F or G or
H)
Halts program execution until after absolute position
occurs. Only one axis may be specified at a time.
AI +/-n Halts program execution until after specified input is at
specified logic level. n specifies input line. Positive is
high logic level, negative is low level.
AS X Y Z W S
(A B C D E F G H)
Halts program execution until specified axis has reached
its slew speed.
AT +/-n Halts program execution until n msec from reference
time. AT 0 sets reference. AT n waits n msec from
reference. AT -n waits n msec from reference and sets
new reference after elapsed time.
AV n Halts program execution until specified distance along a
coordinated path has occurred.
MC X or Y or Z or W
(A or B or C or D or E or F or G or
H)
Halt program execution until after the motion profile has
been completed and the encoder has entered or passed
the specified position. TW x,y,z,w sets timeout to
declare an error if not in position. If timeout occurs, then
the trippoint will clear and the stop code will be set to 99.
An application program will jump to label #MCTIME.
MF X or Y or Z or W
(A or B or C or D or E or F or G or
H)
Halt program execution until after forward motion
reached absolute position. Only one axis may be
specified. If position is already past the point, then MF
will trip immediately.
MR X or Y or Z or W
(A or B or C or D or E or F or G or
H)
Halt program execution until after reverse motion
reached absolute position. Only one axis may be
specified. If position is already past the point, then MR
will trip immediately.