Yaskawa MP940 - Manual (Page 35)

Specifications and Functions
2.3.3 Motion Command Descriptions
2-12
Control
Com-
mands MSEE SUBROUTINE
CALL MSEE MPS － ; Executes the MPS- subroutine.
TIM DWELL TIME TIM T － ; Waits for the period of time specified by
T, and then proceeds to the next block.
IOW I/O WAIT IOW MB － == ∗∗∗; Stops execution of the motion program
until the conditional expression given in
the command is satisfied.
END PROGRAM END END; Ends the motion program.
RET SUBROUTINE
RETURN RET; Ends the subroutine.
EOX ONE SCAN WAIT EOX; Separates continuous sequence instruc-
tions and forces a wait of one scan before
continuing execution.
IF
ELSE
IEND Branching com-
mands IF (conditional expression) ;
(process 1)
ELSE;
(process 2)
IEND; Executes process 1 if the conditional
expression is satisfied, and executes pro-
cess 2 if the conditional expression is not
satisfied.
WHILE
WEND Repeat com-
mands WHILE (conditional expression) ;
…
WEND; Repeatedly executes WHILE to WEND
processing for as long as the conditional
expression is satisfied.
SFORK
JOINTO
SJOINT Selective execu-
tion commands SFORK conditional expression 1?
label 1, Conditional expression 2?
label 2, •••;
Label 1: Process 1
JOINTO label X
Label 2: Process 2
JOINTO label X
Label
・
・
Label X: SJOINT;
Executes process 1 if conditional expres-
sion 1 is satisfied, and executes process 2
if the conditional expression 2 is satis-
fied.
Classifi-
cation
Command Name Programming Format Function/Meaning