Yaskawa LEGEND-MC - Manual (Page 328)

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LEGEND-MC User’s Manual
Example - Turn ON Output After Move
Digital Inputs
The LEGEND-MC has eight digital inputs for controlling motion by local switches. The @IN[n] function
returns the logic level of the specified input 1 through 8. For example, a Jump on Condition instruction
can be used to execute a sequence if a high condition is noted on an input 3. To halt program execution,
the After Input (AI) instruction waits until the specified input has occurred.
Example:
#OUTPUT Label
PR 2000 Position Command
BG Begin
AM After move
SB1 Set Output 1
WT 1000 Wait 1000 msec
CB1 Clear Output 1
EN End
JP #A,@IN[1]=0 Jump to A if input 1 is low
JP #B,@IN[2]=1 Jump to B if input 2 is high
AI 7 Wait until input 7 is high
AI -6 Wait until input 6 is low