Yaskawa MP900 Series Motion Programming Manual - Manual (Page 89)

Motion Commands
2.2.7 DWELL TIME (TIM)
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J Programming Examples
The following illustrations show programming examples for the PLD command.
Manual Intervention While a Motion Program is Running
MPM001 “GRP1”
MOV [axis1] 1000; ←During this time, axis 1 is moved by JOG.
PLD [axis1] ; ←Updates the current position.
MVS [axis1] − 1000;
Axis Executed Within a Motion Program User Function
MPM001 “GRP1”
MOV [axis1] 1000;
UFC FNC10 MB00000 IW00100 MB00020 ←Axis 1 is moved by a user function.
PLD [axis1] ; ←Updates the current position.
MVS [axis1] − 1000;
The PLD command can be executed by the user in some applications. The PLD command can not be used
in some of the applications where manual intervention is required while the motion program is running.
2.2.7 DWELL TIME (TIM)
J Overview
The DWELL TIME (TIM) command causes execution to pause for the period of time specified
for “T” before the start of the next command and before proceeding to the next block. No other
commands can be designated with the TIM command.
J Description
The TIM command is designated as follows:
TIM T− ;
Dwell time
The range of time that can be designated for T is 0.01 to 600.00 seconds.
Designate the time T with no decimal point: 1=0.01 sec. The decimal point is not affected by
the setting of the “number of digits after the decimal point” of the fixed parameter.
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