Yaskawa YASNAC PC NC Programming Manual - Manual (Page 295)

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YASNAC PCNC Programming Manual Chapter 4: Enhanced Level Commands
(1) Branch Instruction
By specifying “IF [< conditional expression>] GOTO jumps to the block of the specified sequence number in the same program if expression> is satisfied.
If
should be placed at the beginning of a block. Even if it is not placed at
the beginning of a block, the commands in the block are executed from the beginning. When
branch occurs, branch in the reverse direction takes a longer time than branch in the forward
direction.
]
Figure 4.4.5.1 Branch Instruction (Conditional Expression Satisfied, Not Satisfied)
It is possible to omit “IF []. In this case, the block indicates a simple
jump instruction.
FIGURE 4.4.5.1 Branch Instruction (Simple Jump Instruction)