Yaskawa LEGEND-MC - Manual (Page 335)

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LEGEND-MC User’s Manual
Example - Position Follower (Point-to-Point)
Objective - The motor must follow an analog signal. When the analog signal varies by 10V, motor must
move 10000 counts.
Method: Read the analog input and command X to move to that point.
Example - Position Follower (Continuous Move)
Method: Read the analog input, compute the commanded position and the position error. Command the
motor to run at a speed in proportions to the position error.
Instruction Interpretation
#POINTS Label
SP 7000 Speed
AC 80000;DC 80000 Acceleration
#LOOP Label
COMPP=@AN[1]*1000 Read analog input, and compute position
PA COMPP Command position
BGX Start motion
AMX After completion
JP #LOOP Repeat
EN End
Instruction Interpretation
#CONT Label
AC 80000;DC 80000 Acceleration rate
JG 0 Start job mode
BGX Start motion
#LOOP
COMPP=@AN[1]*1000 Compute desired position
VE=COMPP-_TPX Find position error
PVEL=VE*20 Compute velocity
JG PVEL Change velocity
JP #LOOP Repeat
EN End