Yaskawa LEGEND-MC - Manual (Page 10)

LEGEND-MC User’s Manual
7 Application Programming ..................................................................................................281
Introduction ....................................................................................................................281
Program Format .............................................................................................................281
Special Labels ...............................................................................................................282
Executing Programs - Multitasking ................................................................................283
Debugging Programs .....................................................................................................284
Event Triggers & Trippoints ..............................................................................284
LEGEND-MC Event Triggers ............................................................................285
Event Trigger Examples: ..................................................................................286
Conditional Jumps ............................................................................................289
Multiple Conditional Statements .......................................................................291
If, Else, and Endif ..............................................................................................293
Command Format - IF, ELSE and ENDIF ........................................................294
Subroutines .......................................................................................................295
Stack Manipulation ...........................................................................................296
Auto Start Routine ............................................................................................296
Automatic Subroutines for Monitoring Conditions .............................................296
Mathematical and Functional Expressions ....................................................................300
Variables ........................................................................................................................302
Programmable Variables ..................................................................................302
Internal Variables & Keywords ..........................................................................303
Arrays ............................................................................................................................306
Defining Arrays .................................................................................................306
Assignment of Array Entries .............................................................................306
Automatic Data Capture into Arrays .................................................................307
8 Input and Output of Data ...................................................................................................311
Sending Messages ........................................................................................................311
Input of Data .....................................................................................................312
Formatting Data ................................................................................................313
User Units .........................................................................................................315
9 Programmable I/O ...............................................................................................................317
Digital Outputs ...............................................................................................................317
Digital Inputs ..................................................................................................................318
10 Example Applications ........................................................................................................319
Instruction Set Examples ...............................................................................................319
Special Labels ..................................................................................................334
Wire Cutter ........................................................................................................338
Speed Control by Joystick ................................................................................339
Position Control by Joystick ..............................................................................340
Backlash Compensation by Dual-Loop .............................................................341
11 Troubleshooting .................................................................................................................343
Overview ........................................................................................................................343
Installation ......................................................................................................................343
Stability ..........................................................................................................................343
Operation .......................................................................................................................344
12 Index ....................................................................................................................................345