YASKAWA SVC - Page 336

4.5 Motion Language Instructions
4-193
4
Motion Control Program Commands and Instructions
Axis
Control
PLN
Coordinate
Plane Setting
PLN [Logical_axis_name_1 (vertical
axis)]
[Logical_axis_name_2 (horizon-
tal axis)];
Designates the coordinate
plane to be used for an instruc-
tion that requires a plane des-
ignation.
Pro-
gram
Control
IF
ELSE
IEND
Branching
IF (Conditional_expression);
(Process_1);
ELSE;
(Process_2);
IEND;
Executes process 1 if the con-
ditional expression is satisfied,
or executes process 2 if the
conditional expression is not
satisfied.
WHILE
WEND
Repetition
WHILE (Conditional_expression);
...;
WEND;
Repeatedly executes the pro-
cesses between WHILE and
WEND as long as the condi-
tional expression is satisfied.
WHILE
WENDX
Repetition with
One Scan Wait
WHILE (Conditional_expression);
...;
WENDX;
Repeatedly executes the pro-
cesses between WHILE and
WENDX as long as the condi-
tional expression is satisfied.
Executes one loop process per
scan.
PFORK
JOINTO
PJOINT
Parallel Execu-
tion
PFORK Label_1, Label_2,
Label_3...;
Label_1: Process_1;
JOINTO Label_X;
Label_2: Process_2;
JOINTO Label_X;
Label_3: Process_3;
JOINTO Label_X;
Label_X: PJOINT;
Executes the blocks (forks)
that are designated by the
labels in parallel.
The END and RET instructions
cannot be used in parallel exe-
cution processing.
SFORK
JOINTO
SJOI
NT
Selective Exe-
cution
SFORK Conditional_expression_1?
Label_1,
Conditional_expression_2?
Label_2,
Conditional_expression_3?
Label_3,
Conditional_expression_4?
Label_4;
Label_1: Process_1;
JOINTO Label_X;
Label_2: Process_2;
JOINTO Label_X;
Label_3: Process_3;
JOINTO Label_X;
Label_4: Process_4;
JOINTO Label_X;
...;
Label_X: SJOINT;
Executes process 1 if condi-
tional expression 1 is satisfied,
or executes process 2 if condi-
tional expression 2 is satisfied.
MSEE
Call Subpro-
gram
MSEE MPS;
Executes the MPS sub-
program.
SSEE
Call Sequence
Subprogram
SSEE SPS;
Executes the SPS sub-
program.
UFC
Call User
Function
UFC User_function_name Input_data,
Input_ad-
dress, Out-
put_data;
Calls a user-created function
from the motion program.
FUNC
User
Function
FUNC User_function_name Input_-
data,
Input_ad-
dress,
Output_-
data;
Calls a user-created function
from the sequence program.
Co
ntinued o
n next page.
Continued from previous page.
Instruc-
tion
Type
Instruc-
tion
Name Format Description