Yaskawa LEGEND-MC - Manual (Page 9)

LEGEND-MC User’s Manual
TS (Tell Switches) ..........................................................................................................228
TT (Tell Torque) .............................................................................................................230
TV (Tell Velocity) ...........................................................................................................231
TW (Time Wait) ..............................................................................................................232
UL (Upload) ...................................................................................................................233
VA (Vector Acceleration) ...............................................................................................234
VD (Vector Deceleration) ...............................................................................................235
VE (Vector End) .............................................................................................................236
VF (Variable Format) .....................................................................................................237
VR (Vector Speed Ratio) ...............................................................................................238
VS (Vector Speed) .........................................................................................................239
VT (Vector Time Constant) ............................................................................................240
WC (Wait for Contour) ...................................................................................................241
WT (Wait) .......................................................................................................................242
XQ (Execute Program) ..................................................................................................243
ZS (Zero Subroutine Stack) ...........................................................................................244
5 Programming Basics ..........................................................................................................249
Introduction ....................................................................................................................249
Program Maximums .......................................................................................................249
Command Syntax ..........................................................................................................249
Controller Response to Commands ...............................................................................251
Command Summary ......................................................................................................252
Motion ...............................................................................................................252
Program Flow ...................................................................................................254
General Configuration .......................................................................................255
Control Filter Settings .......................................................................................256
Status ................................................................................................................256
Error And Limits ................................................................................................257
Arithmetic Functions .........................................................................................257
6 Programming Motion .........................................................................................................259
Overview ........................................................................................................................259
Independent Axis Positioning ........................................................................................261
Command Summary - Independent Axis ..........................................................261
Independent Jogging .....................................................................................................263
Command Summary - Jogging .........................................................................263
Linear Interpolation Mode ..............................................................................................264
Specifying Linear Segments .............................................................................264
Command Summary - Linear Interpolation .......................................................266
Vector Mode: Linear Interpolation Motion ......................................................................267
Specifying Vector Segments .............................................................................267
Additional Commands .......................................................................................267
Command Summary - Coordinated Motion Sequence .....................................268
Operand Summary - Coordinated Motion Sequence ........................................269
Electronic Gearing .........................................................................................................270
Command Summary - Electronic Gearing ........................................................270
Electronic Cam ..............................................................................................................271
Contour Mode ................................................................................................................275
Specifying Contour Segments ..........................................................................275
Additional Commands .......................................................................................276
Command Summary - Contour Mode ...............................................................276
General Velocity Profiles ..................................................................................276
Motion Smoothing ..........................................................................................................277
Using the IT and VT Commands (S curve profiling): ........................................277
Homing ..........................................................................................................................278
High Speed Position Capture (Latch Function) .............................................................279