Yaskawa LEGEND-MC - Manual (Page 172)

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LEGEND-MC User’s Manual
MC (Motion Complete)
[Trippoint]
DESCRIPTION:
The MC command is a trippoint used to control the timing of events. This command will hold up execution
of the following commands until the current move is completed and the encoder reaches or passes the
specified target position. TW sets the timeout to declare an error if the encoder is not in position within a
specified time. If a timeout occurs, the trippoint will clear and the stopcode (SC command) will be set to 99.
The application program will jump to the special label #MCTIME, if included in your program.
ARGUMENTS: MC XYZWS or ABCDEFGH where
X, Y, Z, W, S specify the X, Y, Z, or W axis or sequence. No argument specifies that motion on all axes is
complete.
USAGE:
RELATED COMMANDS:
EXAMPLES:
NOTE: MC can be used to verify that the actual motion has been completed. In certain applications, that have very little KI
(integration), it is possible that the axis does not get to the exact position specified. This means the MC command will wait
the entire time of the TW command. Set the TW command to a realistic value.
While Moving Yes Default Value n/a
In a Program Yes Default Format n/a
Command Line Yes
Can be Interrogated No
Used as an Operand No Distributed Control Specific Axis
"BG" Begin
"AM" After Move
"TW" Timeout
#MCTIME Motion Complete Timeout Special Label
#MOVE Program MOVE
PR 5000 Position relative moves
BG Start the axis
MC After the move is complete
SB1 Set output 1 to logic 1
EN End of Program