Yaskawa LEGEND-MC - Manual (Page 329)

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LEGEND-MC User’s Manual
10 Example Applications
Instruction Set Examples
Below are some examples of simple instructions. It is assumed your system is hooked-up and the motors
are under stable servo control.
DP*=0 <enter> Define all axis positions as 0
PF 6,6,6,6 <enter> Define position format as 6 digits
PR 100,200,300,400 <enter> Specify X,Y,Z,W position command
BG <enter> Begin Motion
TP <enter> Tell Position
00100,00200,00300,00400 Returned Position data
PR?,?,?,? <enter> Request Position Command
00100,00200,00300,00400 Returned data
BGX <enter> Begin X axis only
TPX <enter> Tell X position only
00200 Returned position data
tpx <enter> Enter invalid command
? TC1 <enter> Controller response - Request error code
1 Unrecognized command Controller response
VM XY <enter> Specify Vector Mode for XY
VS 10000 <enter> Specify Vector Speed
VP 2000,3000 <enter> Specify Vector Segment
VP 4000,5000 <enter> Specify Vector
LE <enter> Segment End Vector
BGS <enter> Begin Coordinated Sequence
TPXY <enter> Tell X and Y position
004200,005200 Returned data