Yaskawa MP900 Series Machine Controller for Standard Operation - Manual (Page 334)

5.5 Debugging Motion Programs
5-39
5
• Main Programs
Debugging will be executed until the END command, where it will stop.
• Subroutines
The RET command will be executed, the program will return to the MSEE command,
and stop at the next command.
In the following example, the breakpoint is set at an earlier line. As a result, the Step Over
command will be executed until the END command where it will stop.
The execution process is shown below.
1. Open mps102 using the Step In command.
2. The debug operations enter the subroutine. If the Multi Step Run command is executed
with the settings shown in the diagram, the RET command will be executed, and control
will return to the main program.
3. Once back at the main program, the process will step at the next command.
„ Hold ON/OFF
The Hold command holds the command currently being executed. When the Hold command
is executed again, the hold is cleared, and execution of the command is continued.
The Hold command is enabled only for the movement commands, however, and is ignored
when executed for other commands.
・・・
00004
00005
00006
・・・
・・・
mov
msee
msee [a1]100 ;
mps102;
mps103;
・・・
Start point
Break point
Cursor
00001
00002
00003 MPS120
fim t100;
・・・ ・・・
・・・
mov [b1]200;
ret;
Start point
Break point
Cursor
・・・
00004
00005
00006
・・・
・・・
mov
msee
msee [a1]100 ;
mps102;
mps103;
・・・
Cursor