Yaskawa LEGEND-MC - Manual (Page 314)

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LEGEND-MC User’s Manual
Examples:
Internal variables can be used in an expression and assigned to a programmable variable, but they cannot
be assigned a value. For example: _KDX=2 is invalid.
The LEGEND-MC also provides a few keywords which give access to internal variables that are not
accessible by standard LEGEND-MC commands.
Examples:
POSX=_TPX Assigns value from Tell Position X to the variable POSX.
JP #LOOP,_TEX>5 Jump to #LOOP if the position error of X is greater than 5
JP #ERROR,_TC=1 Jump to #ERROR if the error code equals 1.
Keyword Function
_BGX or _BGY or _BGW Motion Done if 1. Moving if 0.
_LFX or _LFY or _LFZ or_LFW Forward Limit (equals 0 or 1)
_LRX or _LRY or _LRZ or LRW Reverse Limit (equals 0 or 1)
TIME Free-Running Real Time Clock* (off by 2.4% - Reset
on power-on). NOTE: TIME does not use _.
_HMX or _HMY or _HMZ or HMW Home Switch (equals 0 or 1)
V1=_LFX Assign V1 the logical state of the Forward Limit Switch on the X-axis
V3=TIME Assign V3 the current value of the time clock
V4=_HMW Assign V4 the logical state of the Home input on the W-axis