Yaskawa LEGEND-MC - Manual (Page 91)

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LEGEND-MC User’s Manual
An example subroutine demonstrating how to assign handles:
An example subroutine demonstrating how to connect handles:
#ASSIGN Assign handles
MG "Assigning..." Diagnostic message
IHE=192,168,3,104>2 Must let first IH command succeed before setting another IH
#WAITA; JP #WAITA,_IHE2<>-2 Wait until handle is connected
IHF=192,168,3,104<504>2 Assign response handle to slave
#WAITB; JP #WAITB,_IHF2<>-2 Wait until handle is connected
EN End subroutine
#CONNECT Connect to slave
MG "Connecting..." Diagnostic message
NA2 Set two axis configuration
CHY=E,F Connect the handles
QWF=4 Set slave response update (don’t need to set QW for com-
mands on handle A)
EN End subroutine