Yaskawa LEGEND-MC - Manual (Page 298)

288
LEGEND-MC User’s Manual
Event Trigger - Start Motion on Input
This example waits for input 1 to go low and then starts motion. NOTE: The AI command actually halts
execution of the program until the input occurs. If you do not want to halt the program sequences, you can
use the Input Interrupt function (II) or use a conditional jump on an input, such as JP #GO,@IN[1] = 0.
Event Trigger - Set Output when at Speed
Event Trigger - Change Speed along Vector Path
The following program changes the feed rate or vector speed at the specified distance along the vector.
The vector distance is measured from the start of the move or from the last AV command.
#INPUT Program Label
AI-1 Wait for input 1 low
PR 10000 Position command
BGX Begin motion
EN End program
#ATSPEED Program Label
JG 50000 Specify jog speed
AC 10000 Acceleration rate
BGX Begin motion
ASX Wait for at slew speed 50000
SB1 Set output 1
EN End program
#VECTOR Label
VMXY;VS 5000 Coordinated path
VP 10000,20000 Vector position
VP 20000,30000 Vector position
VE End vector
BGS Begin sequence
AV 5000 After vector distance
VS 1000 Reduce speed
EN End