Yaskawa LEGEND-MC - Manual (Page 61)

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LEGEND-MC User’s Manual
Command Description
Each executable instruction is listed in the following section in alphabetical order.
The two letter op-code for each instruction is placed in the upper left corner. Below the op-code is a
description of the command and required arguments. As arguments, some commands require actual
values to be specified following the instruction. These commands are followed by lower case x, y, z, and
w. Values may be specified for any axis separately or any combination of axes. Axis values are separated
by commas. Examples of valid x,y, z, w syntax are listed below. For the SMC-3010, the axis designators
a,b,c,d,e,f,g,h are used where x,y,z,w can be used interchangeably with a,b,c,d.
Where x, y, z and w are replaced by actual values.
A ? returns the specified value for that axis. For example, AC ?,?,?,?, returns the acceleration of the
X,Y,Z and W axes.
Other commands require action on the X,Y,Z or W axis to be specified. These commands are followed by
uppercase X,Y,Z or W. Action for a particular axis or any combination is specified by writing X,Y,Z or
W. No commas are needed. Valid XYZW syntax is listed below. The SMC-3010 uses ABCDEFGH axis
designators where XYZW can be used interchangeably with ABCD.
Valid x,y,z,w syntax Comment
AC x Specify x only
AC x,y Specify x and y only
AC x,,z Specify x and z only
AC x,y,z,w Specify x,y,z,w
AC ,y Specify y only
AC ,y,z Specify y and z
AC ,,z Specify z only
AC ,,,w Specify w only
AC x,,,w Specify x and w only
AC a,,,d,,f Specify a,d and f only
Valid XYZW syntax Comment
SH X Servo Here, X only
SH XYW Servo Here, X,Y and W axes
SH XZW Servo Here, X,Z and W axes
SH XYZW Servo Here, X,Y,Z and W axes
SH Y Servo Here, Y only
SH YZW Servo Here, Y,Z and W axes
SH Z Servo Here, Z only
SH Servo Here, all axes