Program Window - YASKAWA XTRAWARE - V3.0 Manual

Group
Interrupt
Motion
Motion
Profile
Output
Program
Flow
Control
System
Variables
Wait
3.5.3.

Program Window

The Program Window (Figure 10) displays the entire program. The program
is written by selecting commands from the Command tab, and entering
values for the commands' parameters. See section 4.4.1, Writing a
Program, for details on how to write a program.
XtraWare User Manual
Description
Specifies the interrupt
routines to be run for
various interrupt
events.
Controls motor
motion.
Changes the default
values of speed,
acceleration and jerk
time.
Sets output ON/OFF.
Program flow handling
commands.
Enables and disables
SERVO control in the
program. Sets gain
and torque limits.
Sets variable values in
the program.
Delays program flow,
either for a specified
time or until a
condition is met.
The Main Screen Interface
Included Commands
(examples)
EXT_INT, INT, INT_RETURN
GO, GO_D, GO_H, MOVE,
MOVE_D, MOVE_H, MOVE_R,
SLIDE, SLIDE_ANALOG,
SPEED_CONTROL, START,
STOP_EX, TORQUE,
TORQUE_ANALOG
ACCELERATION, JERK_TIME,
SPEED
FAST_OUTPUT_SETTING,
SET_OUTPUT, SET_OUTPUTS;
CALL, END, GO_TO, IF,
IF_INPUT, INPUT_CASE, LABEL,
LOOP, RETURN, RUN
CONTROL, GAIN,
TORQUE_LIMITS,
ELECTRONIC_GEAR
MATH, READ_FROM_ARRAY,
SET_VAR, WRITE_TO_ARRAY
DELAY, WAIT_EXACT,
WAIT_FOR_START,
WAIT_INPUT, WAIT_STOP,
WAIT_VAR
17