Yaskawa MP900 Series Machine Controller for Standard Operation - Manual (Page 343)

Motion Programming
5.5.3 Debug Operations
5-48
5
Commands that Cannot be Executed with Step Run
The Step Run command cannot be executed for some commands. An error message will be
generated for these commands shown on the following table. Set the start point to the next
command that can be executed with the Step Run command.
Commands for which Start Points and Breakpoints Cannot be Set
Start points and breakpoints cannot be set for the nonexecutable commands shown in the fol-
lowing table. Error messages will be generated if start points or breakpoints are set for these
commands. Set the start points and breakpoints to commands that can be set.
Executing from Command and Label lines
Step Run can be executed from lines with semi-colons (;) only and comment lines that start
with quotation marks ("). In such cases, the next subsequent executable command is exe-
cuted.
An example is shown below.
Set the cursor to a comment line.
Command Code Example Remarks
IF if ib01==1;
ELSE else; Start points cannot be set.
IEND iend;
WHILE while ib01==1;
WEND wend;
PFORK pfork L1 L2;
JOINTO jointo L3;
PJOINT L3: pjoint L1 L2;
SFORK sfork ib01==1?L1 ib01==0?L2;
SJOINT L3: sjoint;
END end; Start points cannot be set.
Command Coding Example
Start
Point
Break
point
Remarks
ELSE else; No Yes Step Run is not possible.
END end; No Yes Step Run is not possible.
;line ; No No
"Comment"; line "Interpolation speed"; No No
Label line Label; No No