Yaskawa SMC–4000 - Manual (Page 284)

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SMC–4000 User Manual
Multiple Moves
This example makes a coordinated linear move in the XY plane. The arrays VA and VB are used to store 750
incremental distances which are filled by the program #LOAD.
Instruction Interpretation
#LOAD Load Program
DM VA[750],VB[750] Define Array
count=0 Initialize Counter
n=0 Initialize position increment
#LOOP LOOP
VA [count]=n Fill Array VA
VB [count]=n Fill Array VB
n=n+10 Increment position
count=count+1 Increment counter
JP #LOOP, count <750 Loop if array not full
#A Label
LM XY Specify linear mode for AB
count=0 Initialize array counter
#LOOP2;JP#LOOP2,_LM=0 If sequence buffer full, wait
JS#C, count=500 Begin motion on 500th segment
LI VA[count],VB[count] Specify linear segment
count=count+1 Increment array counter
JP #LOOP2, count <750 Repeat until array done
LE End Linear Move
AMS After Move sequence done
MG “DONE” Send Message
EN End program
#C;BGS;EN Begin Motion Subroutine