Yaskawa SMC–4000 - Manual (Page 335)

325
SMC–4000 User Manual
Internal Variables & Keywords
Internal variables allow motion or status parameters from SMC–4000 commands to be incorporated into
programmable variables and expressions. Internal variables are designated by adding an underscore (_)
prior to the SMC–4000 command. SMC–4000 commands which can be used as internal variables are
listed in the Command Reference as "Used as an Operand".
Most SMC–4000 commands can be used as internal variables. Status commands such as Tell Position
return actual values, whereas action commands such as GN or SP return the values in the SMC–4000
registers. The X,Y,Z or W or A,B,C,D,E,F,G,H for the SMC–4000, axis designation is required following
the command.
Examples:
Internal variables can be used in an expression and assigned to a programmable variable, but they cannot
be assigned a value. For example: _KDX=2 is invalid.
The SMC–4000 also provides a few keywords which give access to internal variables that are not
accessible by standard SMC–4000 commands.
Examples:
POSX=_TPX Assigns value from Tell Position X to the variable POSX.
JP #LOOP,_TEX>5 Jump to #LOOP if the position error of X is greater than 5
JP #ERROR,_TC=1 Jump to #ERROR if the error code equals 1.
Keyword Function
_BGX or _BGY or _BGW Motion Done if 1. Moving if 0.
_LFX or _LFY or _LFZ or_LFW Forward Limit (equals 0 or 1)
_LRX or _LRY or _LRZ or LRW Reverse Limit (equals 0 or 1)
TIME Free-Running Real Time Clock* (off by 2.4% - Reset
on power-on). Note: TIME does not use _.
_HMX or _HMY or _HMZ or HMW Home Switch (equals 0 or 1)
V1=_LFX Assign V1 the logical state of the Forward Limit Switch on the X-axis
V3=TIME Assign V3 the current value of the time clock
V4=_HMW Assign V4 the logical state of the Home input on the W-axis