Yaskawa LEGEND-MC - Manual (Page 308)

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LEGEND-MC User’s Manual
If the position error on the X axis exceeds that specified by the ER command, the #POSERR routine will
execute.
NOTE: The RE command is used to return from the #POSERR subroutine
NOTE: The #POSERR routine will continue to be executed until the position error is cleared (is less than the
ER limit).
Input Interrupt Example:
NOTE: Use the RI command to return from #ININT subroutine.
:BGX Begin Motion
#A Label
II1 Input Interrupt on 1
JG 30000,,,60000 Jog
BGXW Begin Motion
#LOOP;JP#LOOP;EN Loop
#ININT Input Interrupt
ST;AM Stop Motion
#TEST;JP #TEST, @IN[1]=0 Test for Input 1 still low
BGXW;RI Begin motion and Return to Main Program
EN