Yaskawa MP900 Series Motion Programming Manual - Manual (Page 110)

Advanced Programming
3.1.9 Branching Commands: IF...ELSE...IEND
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3.1.9 Branching Commands: IF...ELSE...IEND
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Overview
The Branching commands (IF...ELSE...IEND) execute the block between IF and ELSE when
a conditional expression is satisfied. If the conditional expression is not satisfied, the block be-
tween ELSE and IEND is executed.
J Description
The Branching commands (IF...ELSE...IEND) are designated as follows:
IF (conditional_expression);
… (process_1)
ELSE;
… (process_2)
IEND;
With branching commands, process 1 is executed if the conditional expression is satisfied, and
process 2 is executed if the conditional expression is not satisfied.
D ELSE can be omitted. If it is omitted and the conditional expression is not satisfied, execution
will continue from the block after IEND.
Conditional
expression
Not satisfied
Satisfied
Process 1 Process 2
Nesting of the branching commands (IF...ELSE...IEND) is restricted to a maximum of eight levels.
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Programming Examples
IF MB−==1;
MOV [axis 1] 10000; ← When MB is ON, positioning is executed for axis 1.
ELSE;
MOV [axis 2] 10000; ← When MB is OFF, positioning is executed for axis 2.
IEND;
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IMPORTANT
A EXAMPLE "