Yaskawa MP920 User's Manual Design - Manual (Page 57)

2.1 Specifications
2-31
2
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
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
commands 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 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
.
.
Label X: PJOINT;
Executes the blocks designated by the
labels in parallel. With a subroutine, a
maximum of two labels can be desig-
nated. 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 expres-
sion 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 satisfied.
(cont’d)
Classification Command Name Programming Format Function/Meaning