YASKAWA SVC User Manual page 337

4.5 Motion Language Instructions
Instruc-
tion
Type
Pro-
gram
Control
Numeric
Opera-
tions
4-194
Instruc-
Name
tion
END Program End END;
Subprogram
RET RET;
Return
TIM T − ;
TIM Dwell Time
TIM1M One-ms Dwell
TIM1MS T − ;
S Time
I/O Variable
IOW MB − = =...;
IOW
Wait
EOX One Scan Wait EOX;
Disable Sin-
gle-block Sig-
SNGD;
SNGD/ nal (SNGD)
...;
SNGE and Enable
SNGE;
Single-block
Signal (SNGE)
= Substitute Result = Math_expression
+ Add MW = MW + MW;
- Subtract MW = MW - MW;
+ + Extended Add MW = MW + + MW;
Extended
- - MW = MW - - MW;
Subtract
∗ MW = MW ∗ MW;
Multiply
/ Divide MW = MW / MW;
MW = MW / MW;
MOD Modulo
MW = MOD;
Continued from previous page.
Format
Ends the program.
Ends the subprogram.
Waits for the period of time
specified by T, and then pro-
ceeds to the next block.
Waits for the period of time
specified by T, and then pro-
ceeds to the next block.
Stops execution of the motion
program until the conditional
expression is satisfied.
Divides the execution of con-
secutive sequence instruc-
tions.
The instruction block after EOX
is executed in the next scan.
Specifies whether to enable or
disable single step operation
during debugging.
Substitutes the results of an
operation. Calculations are
performed from left to right
with no order of priority.
Performs integer and real num-
ber addition. If both integers
and real numbers are included,
calculations are performed with
real numbers.
Performs integer and real num-
ber subtraction. If both inte-
gers and real numbers are
included, calculations are per-
formed with real numbers.
Performs extended addition of
integers.
Performs extended subtrac-
tion of integers.
Performs integer and real num-
ber multiplication. If both inte-
gers and real numbers are
included, calculations are per-
formed with real numbers.
Performs integer and real num-
ber division. If both integers
and real numbers are included,
calculations are performed with
real numbers.
When programmed in the next
block after a division, MOD
stores the remainder in the
designated register.
Description
Continued on next page.