Yaskawa LEGEND-MC - Manual (Page 112)

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LEGEND-MC User’s Manual
EG (ECAM Engage)
[Motion]
DESCRIPTION:
The EG command engages an ECAM operation at a specified position of the master encoder. If a value is
specified outside of the master’s range, the slave will engage immediately. Once a slave motor is engaged,
its position is redefined to fit within the cycle.
ARGUMENTS: EG n where
n is the master position at which the slave axis must be engaged.
“?” returns 1 if specified axis is engaged and 0 if disengaged
USAGE:
OPERAND USAGE:
_EGn contains ECAM status where n is an axis letter. 0 = axis is not engaged, 1 = axis is engaged.
RELATED COMMANDS:
EXAMPLES:
NOTE: This command is not a trippoint. This command will not hold the execution of the program
flow. If the execution needs to be held until master position is reached, use MF or MR command.
While Moving Yes Minimum value -2147483648
In a Program Yes Maximum value 2147483647
Command Line Yes Default Value n/a
Can be Interrogated No Default Format n/a
Used as an Operand Yes Distributed Control Specific Axis
“EB” Enable Ecam
”EQ” Ecam quit
EG 700 Engages slave at master position 700.
B = _EG Return the status of the axis, 1 if engaged