Yaskawa MP920 User's Manual Design - Manual (Page 536)

A.2 Motion Commands, Ladder Instructions, and Standard System Functions
A-21
A
High-Level
Control
Commands
(cont’d) SNG IGNORE SINGLE
BLOCK SIGNAL SNG MVS [axis1] 100. [axis2]
200. F1000; A block with this command will be exe-
cuted continuously, even in single-block
operation mode.
SNG cannot be designated on its own.
UFC USER
FUNCTION CALL UFC Function_name Input
data, Input address, Output
data; Calls a function created by the user.
Sequence
Commands = SUBSTITUTE (Result) = (Arithmetic expres-
sion) Substitutes operation results. Performs
calculations from left to right (with no
order of priority).
+ ADD MW − = MW− + MW−;
MW − = MW− + 123456;
MW − = 123456 + MW−;
Performs integer and real number addi-
tion. Calculates combinations of integers
and real numbers as real numbers.
- SUBTRACT MW − = MW− − MW−;
MW − = MW− − 123456;
MW − = 123456 − MW−;
Performs integer and real number sub-
traction. Calculates combinations of
integers and real numbers as real num-
bers.
∗ MULTIPLY MW − = MW− ∗ MW−;
MW − = MW− ∗ 123456;
MW − = 123456 ∗ MW−;
Performs integer and real number multi-
plication. Calculates combinations of
integers and real numbers as real num-
bers.
/ DIVIDE MW − = MW−/MW−;
MW − = MW−/123456;
MW − = 123456/MW−;
Performs integer and real number divi-
sion. Calculates combinations of integers
and real numbers as real numbers.
MOD REMAINDER MW − = MW−/MW−;
MW − = MOD;
When programmed in the next block
after a division, MOD stores the remain-
der in the designated register.
| OR (logical OR) MB − = MB− | MB−;
MB − = MB− | 1;
MW − = MW− | MW−;
MW − = MW− | H00FF;
Performs bit/integer logical OR.
^ XOR (logical
exclusive OR) MW − = MW− ^ MW−;
MW − = MW− ^ H00FF;
Performs integer logical exclusive OR.
& AND (logical
AND) MB − = MB− & MB−;
MB − = MB− & 1;
MW − = MW− & MW−;
MW − = MW− & H00FF;
Performs bit/integer logical AND.
! NOT (logical
complement) MB − = !MB−;
MB − = !1;
MW − = !MW−;
MW − = !H00FF;
Performs bit/integer logical complement
(inverts bits).
( ) PARENTHESES MW − = MW− & (MW− |
MW −);
The logical arithmetic expression inside
parentheses is calculated first.
S{ } SET BIT S{MB −} = MB− & MB−; If the logical operation result is “true,”
the designated bit turns ON. The desig-
nated bit does not turn OFF, even if the
logical operation result is “false.”
R{ } RESET BIT R{MB −} = MB− & MB−; If the logical operation result is “true,”
the designated bit turns OFF. The desig-
nated bit does not turn ON, even if the
logical operation result is “false.”
(cont’d)
Classification Command Name Programming Format Function/Meaning