YASKAWA SVC User Manual page 336

Instruc-
Instruc-
tion Name
tion
Type
Axis Coordinate
PLN
Control Plane Setting
IF
ELSE Branching
IEND
WHILE
Repetition
WEND
WHILE Repetition with
WENDX One Scan Wait
PFORK
Parallel Execu-
JOINTO
tion
PJOINT
Pro-
gram
Control
SFORK
Selective Exe-
JOINTO
cution
SJOINT
Call Subpro-
MSEE
gram
Call Sequence
SSEE
Subprogram
Call User
UFC
Function
User
FUNC
Function
Format
PLN [Logical_axis_name_1 (vertical
axis)]
[Logical_axis_name_2 (horizon-
tal axis)];
IF (Conditional_expression);
(Process_1);
ELSE;
(Process_2);
IEND;
WHILE (Conditional_expression);
...;
WEND;
WHILE (Conditional_expression);
...;
WENDX;
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;
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;
MSEE MPS;
SSEE SPS;
UFC User_function_name Input_data,
Input_ad-
dress, Out-
put_data;
FUNC User_function_name Input_-
4.5 Motion Language Instructions
Continued from previous page.
Description
Designates the coordinate
plane to be used for an instruc-
tion that requires a plane des-
ignation.
Executes process 1 if the con-
ditional expression is satisfied,
or executes process 2 if the
conditional expression is not
satisfied.
Repeatedly executes the pro-
cesses between WHILE and
WEND as long as the condi-
tional expression is satisfied.
Repeatedly executes the pro-
cesses between WHILE and
WENDX as long as the condi-
tional expression is satisfied.
Executes one loop process per
scan.
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.
Executes process 1 if condi-
tional expression 1 is satisfied,
or executes process 2 if condi-
tional expression 2 is satisfied.
Executes the MPS sub-
program.
Executes the SPS sub-
program.
Calls a user-created function
from the motion program.
data,
Input_ad- Calls a user-created function
dress, from the sequence program.
Output_-
data;
Continued on next page.
4
4-193