Yaskawa LEGEND-MC - Manual (Page 296)

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LEGEND-MC User’s Manual
Event Trigger Examples:
Event Trigger - Multiple Move Sequence
The AM trippoint is used to separate the two PR moves. If AM is not used, the controller returns a ? for
the second PR command because a new PR cannot be given until motion is complete.
In the above example, the AM trippoint is used to separate the two PR moves. If AM is not used, the
controller returns a ? for the second PR command because a new PR cannot be given until motion is
complete.
WT n Halts program execution until specified time in msec has
elapsed.
#TWOMOVE Label
PR 2000 Position Command
BGX Begin Motion
AMX Wait for Motion Complete
PR 4000 Next Position Move
BGX Begin 2nd move
EN End program