Yaskawa MP900 Series Motion Programming Manual - Manual (Page 18)

Overview of Motion Programs
1.1.1 Motion Programming Capabilities
1 -4
J Control Commands
D CONDITIONAL BRANCH
D REPEAT
D TIMER (TIM)
D SUBROUTINE (MSEE)
D PARALLEL FORK (PFORK)
D SELECTIVE FORK (SFORK)
D Etc.
CONDITIONAL BRANCH
IF <Conditional expression>
S
S Processing when condition is satisfied
S
S
ELSE
S
S Processing when condition is not satisfied
S
IEND
REPEAT
WHITE <Conditional expression>
S
S Processing
S
WEND
1