Yaskawa LEGEND-MC - Manual (Page 299)

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LEGEND-MC User’s Manual
Event Trigger - Multiple Move with Wait
Define Output Waveform Using AT
The following program causes Output 1 to be high for 10 msec and low for 40 msec. The cycle repeats
every 50 msec.
Conditional Jumps
The LEGEND-MC provides Conditional Jump (JP) and Conditional Jump to Subroutine (JS) instructions
for branching to a new program location based on a specified condition. Unlike event triggers, the
conditional jump instruction does not halt the program sequence. Instead, it tests to see if a condition is
satisfied and then branches to a new location or subroutine. (A subroutine is a group of commands
#MOVES Label
PR 12000 Distance
SP 20000 Speed
AC 100000 Acceleration
BGX Start Motion
AD 10000 Wait a distance of 10,000 counts
SP 5000 New Speed
AMX Wait until motion is completed
WT 200 Wait 200 ms
PR -10000 New Position
SP 30000 New Speed
AC 150000 New Acceleration
BGX Start Motion
EN End
#OUTPUT Program label
AT0 Initialize time reference
SB1 Set Output 1
#LOOP Loop
AT 10 After 10 msec from reference,
CB1 Clear Output 1
AT -40 Wait 40 msec from reference and reset reference
SB1 Set Output 1
JP #LOOP Loop
EN