Yaskawa LEGEND-MC - Manual (Page 333)

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LEGEND-MC User’s Manual
FEX; BGX; AMX
IPX=-20000; AMX (Need to adjust number based on distance)
CN,1
JP #HOMING
EN
#LIMSWI; AB1 (AB1 optional, to instantly stop all servos)
JP#REALPRB,HOMING
=FALSE (Do next part if limit during homing)
zs;WT 1000; JP
#BACKUP (Next part handles a real limit event)
#REALPRB
MG “Limit Hit”
RE1
#CMDERR (Command error handler special label)
AB1; ZS
JP#LIMSWI,_TC=22 (Refer to #LIMSWI handler if try to begin or motor OFF)
MG “Error”{N};TCI{N}
MG”on line”,_ED{F3.0}
MG”Program halted!”
AB
EN