Yaskawa MP930 - Manual (Page 309)

B.1 Motion Command List
B -7
Classification Function/Meaning Programming Format Name Command
Control
Commands 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 un-
til 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 instructions
and forces a wait of one scan before contin-
uing execution.
IF
ELSE
IEND
Branching com-
mands IF (conditional expression) ;
(process 1)
ELSE;
(process 2)
IEND; Executes process 1 if the conditional ex-
pression is satisfied, and executes process 2
if the conditional expression is not satis-
fied.
WHILE
WEND
Repeat commands WHILE (conditional expres-
sion) ;
…
WEND; Repeatedly executes WHILE to WEND
processing for as long as the conditional
expression is satisfied.
PFORK
JOINTO
PJOINT
Parallel execution
commands PFORK label 1, label 2,…;
Label 1: Process 1
JOINTO label X
Label 2: Process 2
JOINTO label X
Label
S
S
Label X: PJOINT;
Executes the blocks designated by the la-
bels in parallel. With a subroutine, a maxi-
mum of two labels can be designated. Also,
a motion command cannot be used in the
block designated by the second label.
END and RET cannot be used during par-
allel execution processing.
SFORK
JOINTO
SJOINT
Selective execution
commands SFORK conditional expression
1? label 1, Conditional expres-
sion 2? label 2,…;
Label 1: Process 1
JOINTO label X
Label 2: Process 2
JOINTO label X
Label
S
S
Label X: SJOINT;
Executes process 1 if conditional expres-
sion 1 is satisfied, and executes process 2 if
the conditional expression 2 is satisfied.
B