Yaskawa MP900 Series Machine Controller for Standard Operation - Manual (Page 341)

Motion Programming
5.5.3 Debug Operations
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If the RET command is executed in the subroutine after temporary registration but without permanent
registration, permanent registration will be automatically executed. If original program that has not
been debugged is to be kept, create a PLC folder in the File Manager for copying and saving that pro-
gram, or use the Export command to save the required program.
„ Restrictions during Debug Operations
The restrictions that apply to the debug operations are outlined below.
Effective Commands during Debug Operations
As shown on the following table, some commands are enabled when the program is stopped,
and some are enabled during the debug operations.
Cursors and Breakpoints after Step Run
The edit cursor and breakpoint move to the next line after the Step Run command is exe-
cuted. If there is a nonexecutable command for comments or labels on the next line, how-
ever, the cursor and breakpoint will stop at the next executable command that appears.
An example of edit cursor and breakpoint movement is shown below.
1. Set the cursor to line 5.
No. Command
When
Stopped
During
Operation
1 Debug Mode ON (DM) Enabled Disabled
2 Debug Mode OFF (Off) Enabled Disabled
3 Update Position (POS) Enabled Disabled
4 Step Run (1 step run) Enabled Disabled
5 Step In (In sub program) Enabled Disabled
6 Start Point (SP) Enabled Disabled
7 Break Point (BP) Enabled Disabled
8 Multi Step Run (GO) Enabled Disabled
9 Hold ON/OFF (HOLD) Disabled Enabled
10 Abort (X) Disabled Enabled
INFO