Yaskawa SMC–4000 - Manual (Page 307)

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SMC–4000 User Manual
Special Labels
There are also some special labels, which are used to define input interrupt subroutines, limit switch
subroutines, error handling subroutines, and command error subroutines. Special labels provide the
application program a method of handling situations that would otherwise be difficult to program.
Example Program:
The above program will execute automatically at power up and move X and Y 10000 and 20000 units.
After the motion is complete, the motors rest for 2 seconds. The cycle repeats indefinitely until the stop
command is issued. Automatic execution assumes that the program has been burned in using the BP
command.
#AUTO Label for automatic program start
#AUTOERR Execute power-up if checksum error
#CMDERR Label for incorrect command subroutine
#ININT Label for Input Interrupt subroutine
#LIMSWI Label for Limit Switch subroutine
#MCTIME Label for timeout if encoder is not in-position within time
specified by TW.
#POSERR Label for excess Position Error subroutine
#TCPERR Ethernet error
#AUTO Beginning of the Program
SH Turn motors on
PR 10000,20000;BG XY Specify relative distances on X and Y axes; Begin Motion
AM Wait for motion complete
WT 2000 Wait 2 sec
JP # AUTO Jump to label AUTO
EN End of Program