Yaskawa LEGEND-MC - Manual (Page 262)

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LEGEND-MC User’s Manual
Command Summary
Each LEGEND-MC command is described fully in the command reference section of this manual. A
summary of the commands follows.
The commands are grouped in this summary by the following functional categories:
• Motion
• Program Flow
• General Configuration
• Control Settings
• Status and Error/Limits
Motion commands are those to specify modes of motion such as Jog Mode or Linear Interpolation, and to
specify motion parameters such as speed, acceleration and deceleration, and distance.
Program flow commands are used in Application Programming to control the program sequencer. They
include the jump on condition command and event triggers such as after position and after elapsed time.
General configuration commands are used to set controller configurations such as setting and clearing
outputs, formatting variables, and motor/encoder type.
The control setting commands include filter settings such as KP, KD, and KI and sample time.
Error/Limit commands are used to configure software limits and position error limits.
Motion
AB Abort Motion
AC Acceleration
BG Begin Motion
CD Contour Data
CM Contour Mode
CS Clear Motion Sequence
DC Deceleration
DT Contour Time Interval
EA Select Master CAM axis
EB Enable CAM mode
EG Start CAM motion for slaves
EM Define CAM cycles for each axis
EP Define CAM table intervals & start point
EQ Stop CAM motion for slaves
ES Ellipse Scaling
ET CAM table entries for slave axes
FE Find Edge
FI Find Index