Yaskawa SMC–4000 User Manual
Page 320
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310
SMC–4000 User Manual
Event Trigger - Multiple Move with Wait
Define Output Waveform Using AT
The following program causes Output 1 to be high for 10 msec and low for 40 msec. The cycle repeats
every 50 msec.
#MOVES
Label
PR 12000
Distance
SP 20000
Speed
AC 100000
Acceleration
BGX
Start Motion
AD 10000
Wait a distance of 10,000 counts
SP 5000
New Speed
AMX
Wait until motion is completed
WT 200
Wait 200 ms
PR -10000
New Position
SP 30000
New Speed
AC 150000
New Acceleration
BGX
Start Motion
EN
End
#OUTPUT
Program label
AT0
Initialize time reference
SB1
Set Output 1
#LOOP
Loop
AT 10
After 10 msec from reference,
CB1
Clear Output 1
AT -40
Wait 40 msec from reference and reset reference
SB1
Set Output 1
JP #LOOP
Loop
EN
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