Yaskawa MP2000 Series: User's Manual for Motion Programming - Manual (Page 194)

8.4 Program Control Commands
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Command Reference
8.4 Program Control Commands
This section describes program control commands including branching commands and repeat commands.
8.4.1 Branching Commands (IF ELSE IEND)
(1) Overview
The branching commands IF ELSE IEND execute the block between IF and ELSE when a conditional expres-
sion is satisfied. If the conditional expression is not satisfied, the block between ELSE and IEND is executed.
ELSE can be omitted. If it is omitted and the conditional expression is not satisfied, execution will continue from
the block after IEND.
Nesting of the branching commands IF ELSE IEND is restricted to a maximum of eight levels.
(2) Format
Motion Programs Sequence Programs
Applicable Applicable
Conditional
expression
Process 1 Process 2
Not satisfied
Satisfied
IMPORTANT
IF (conditional_expression);
··· (Process_1)
ELSE;
··· (Process_2)
IEND;