Yaskawa SMC–4000 - Manual (Page 9)

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SMC-4000 User’s Manual
TE (Tell Error) ...................................................................................218
TH (Tell Handle) ...............................................................................219
TI (Tell Inputs) ...................................................................................220
TIME (Time Keyword) .......................................................................221
TK (Peak Torque Limit) .....................................................................222
TL (Torque Limit) ..............................................................................223
TM (Time Base) ................................................................................224
TN (Tangent) ....................................................................................225
TP (Tell Position) ..............................................................................226
TR (Trace Mode) ..............................................................................227
TS (Tell Switches) .............................................................................228
TT (Tell Torque) ................................................................................230
TV (Tell Velocity) ..............................................................................231
TW (Time Wait) .................................................................................232
TY (Tell Yaskawa Absolute Encoder) ...............................................233
UL (Upload) ......................................................................................234
VA (Vector Acceleration) ..................................................................235
VD (Vector Deceleration) ..................................................................236
VE (Vector Sequence End) ...............................................................237
VF (Variable Format) ........................................................................238
VM (Coordinated Motion Mode) ........................................................239
VP (Vector Position) .........................................................................241
VR (Vector Speed Ratio) ..................................................................243
VS (Vector Speed) ............................................................................244
VT (Vector Time Constant) ...............................................................245
WC (Wait for Contour) ......................................................................246
WH (Which Handle) ..........................................................................247
WT (Wait) ..........................................................................................248
XQ (Execute Program) .....................................................................249
ZS (Zero Subroutine Stack) ..............................................................250
5 Programming Basics ............................................................................254
Introduction .......................................................................................254
Program Maximums ..........................................................................254
Command Syntax .............................................................................254
Controller Response to Commands ..................................................256
Command Summary .........................................................................257
6 Programming Motion ............................................................................264
Overview ...........................................................................................264
Independent Axis Positioning ...........................................................266
Independent Jogging ........................................................................268
Linear Interpolation Mode .................................................................269
Vector Mode: Linear and Circular Interpolation Motion ....................275
Electronic Cam .................................................................................283
Virtual Axis ........................................................................................286
Contour Mode ...................................................................................288