Yaskawa SMC–4000 - Manual (Page 264)

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SMC–4000 User Manual
5 Programming Basics
Introduction
The SMC–4000 provides over 100 commands for specifying motion and machine parameters. Commands
are included to initiate action, interrogate status and configure the digital filter.
The SMC–4000 instruction set is BASIC-like and easy to use. Instructions usually consist of two
uppercase letters that normally correspond phonetically with the appropriate function. For example, the
instruction BG begins motion, and ST stops motion.
Commands can be sent "live" for immediate execution by the SMC–4000, or an entire group of commands
(a program) can be downloaded into the SMC–4000 memory for execution at a later time. Combining
commands into groups for later execution is referred to as Applications Programming and is discussed in
the following chapter.
This section describes the SMC–4000 instruction set and syntax. A complete listing of all SMC–4000
instructions is included in the command reference section.
Program Maximums
Command Syntax
SMC–4000 instructions are represented by two ASCII upper case characters followed by applicable
arguments. A space may be inserted between the instruction and arguments. A semicolon or <enter> is
used to terminate the instruction for processing by the SMC–4000 command interpreter.
For example, the command
PR 4000 <enter> Position Relative
PR is the two character instruction for Position Relative. 4000 is the argument which represents the
required position value in counts. The <enter> terminates the instruction. The spaces between commands
and argumants are always optional.
For specifying data for the X,Y,Z and W axes, commas are used to separate the axes and preserve axis
order as X,Y,Z and W. If no data is specified for an axis, a comma is still needed as shown in the examples
below. If no data is specified for an axis, the previous value is maintained. The space between the data and
instruction is optional. For the SMC–4000, the four axes are referred to as A,B,C,D where X,Y,Z,W and
A,B,C,D may be used interchangeably.
To view the current values for each command, specify the command followed by a ? for each axis
requested. The SMC–4000 provides an alternative method for specifying data.
Here data is specified individually using a single axis specified such as X,Y,Z or W (or A,B,C,or D for the
SMC–4000). An equal sign is used to assign data to that axis. For example:
Commands per line Until 80 characters
Labels among all threads 510
Lines among all threads 2000
Subroutine nesting level 16
Threads 8
IMPORTANT: All SMC–4000 commands must be upper case.