Calculated Industries 6250 Guide de l'utilisateur télécharger pdf (Page 104)

11/25/96

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6270 Programming Tips

Conditional looping (REPEAT/UNTIL and WHILE/NWHILE) entails repeating a set of

commands until or while a certain condition exists. In conditional branching

(IF/ELSE/NIF), a specific set of commands is not executed until a certain condition exists.

Both rely on the fulfillment of a conditional expression, a condition specified in the UNTIL,

WHILE, or IF commands.

Flow Control

Expression

Examples

This section provides examples of expressions that can be used in conditional branching and

looping commands (UNTIL, WHILE, and IF). These expressions can be constructed, in

conjunction with relational and logical operators, with the following operands:

❏ Numeric Variables and Binary Variables

❏ Inputs and Outputs

❏ Current Motion Parameters and Status

❏ Current Actual and Commanded Position

❏ Error, Axis, and System Status

❏ Timer Value

❏ Data Read from the Serial Port

❏ Data Read from the RP240

Numeric and

Binary Variables

A numeric variable (VAR) can be used within an expression, if the variable is compared against

another numeric variable, a value, or one of the comparison commands (A, AD, ANV, D, DAC,

FB, PC, PCA, PCC, PCE, PER, PE, TIM, V, VEL). When comparing a variable against

another value, variable, or comparison command, the relational operators (=, >, >=, <, <=,

<>) and logical operators (AND, OR, NOT) are used.

Expression Description

(VAR1<VAR2) True expression if variable 1 is less than variable 2

(VAR1>=25ØØ) True expression if variable 1 is greater than or equal to 2500

(VAR1=1AD) True expression if variable 1 is equal to the deceleration of

axis 1

(VAR1<VAR2 AND VAR4>1PE) True expression if variable 1 is less than variable 2 and

variable 4 is greater than axis 1 actual position

A binary variable (VARB) can be used within an expression, if the variable is compared against

another binary variable, or a value. When comparing a variable against another value or

variable, the relational operators (=, >, >=, <, <=, <>) and logical operators (AND, OR, NOT)

are used.

Expression Description

(VARB1<>VARB2) True expression if binary variable 1 is not equal to binary

variable 2

(VARB1=b11Ø1 X111) True expression if binary variable 1 is equal to 1101 X111

(VARB1<VARB2 AND VARB4>hF) True expression if binary variable 1 is less than binary

variable 2 and binary variable 4 is greater than the

hexadecimal value of F

Inputs and

Outputs

An input or output operand (IN, INO, LIM, OUT) can be used within an expression, if the

operand is compared against a binary variable or a binary or hexadecimal value. When making

the comparison, the relational operators (=, >, >=, <, <=, <>) and logical operators (AND,

OR, NOT) are used.

Expression Description

(IN.12=b1) True expression if input 12 is equal to 1

(LIM>h3) True expression if limit status is greater than hexadecimal 3

Current Motion

Parameters and

Status

Motion parameters consist of A, AD, D, V, VEL, and MOV. The motion parameters can be

used within an expression, if the operand is compared against a numeric variable or value. The

motion status operand must be compared against a binary variable or a binary or hexadecimal

value. When making the comparison, the relational operators (=, >, >=, <, <=, <>) and

logical operators (AND, OR, NOT) are used.

Expression Description

(VAR1<1VEL) True expression if the value of variable 1 is less than the actual

velocity of axis 1

(1AD=25ØØØ) True expression if axis 1 deceleration equals 25000

(MOV=bØØ) True expression if moving status equals ØØ (axes 1 & 2 are not

moving)

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Calculated Industries 6250 Guide de l'utilisateur Page 104

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