IAI PSEL, Operation Manual

Page: 882 / 1062

[13] IF structure
388
[13] IF structure
z
IF (Structural IF)
Command, declaration Extension
condition
(LD, A, O, AB, OB)
Input condition
(I/O, flag)
Command,
declaration
Operand 1 Operand 2
Output
(Output, flag)
E N, Cnd Cmnd Operand 1 Operand 2 Pst
Optional Optional IF
ڧڧ
Variable
number
Data
CP
Applicable models
All models [Refer to Section 5.1 for details of models]
{
[Function] Compare the content of the variable specified in operand 1 with the value specified in
operand 2, and proceed to the next step if the condition is satisfied.
If the condition is not satisfied, the program will proceed to the step next to the
corresponding ELSE command, if any, or to the step next to the corresponding EDIF
command.
If the input condition is not satisfied and the IF
command is not executed, the program
will proceed to the step next to the corresponding EDIF.
A maximum of 15 nests are supported when IS
and DW are combined.
IF
EQ ........... Operand 1 = Operand 2
NE ........... Operand 1
z
Operand 2
GT ........... Operand 1 > Operand 2
GE ........... Operand 1
t
Operand 2
LT ........... Operand 1 < Operand 2
LE ........... Operand 1
d
Operand 2
[Example 1] SVON 1111 Set the current arm system in variable 99.
PRDQ 1 100 Read the current X coordinate value into
variable 100.
CPNE 99 0 600 Turn OFF flag 600 if the arm system is
indeterminable.
600 IFEQ 99 1 Determine the arm system. The
processing ends if the arm system is
indeterminable.
IFGE 100 0
MOVP 1
Move to position No. 1 via PTP if the X
coordinate value is 0 or greater.
ELSE
MOVP 2 Move to position No. 2 via PTP.
EDIF
ELSE
IFGE 100 0
MOVP 3
Move to position No. 3 via PTP if the X
coordinate value is 0 or greater.
ELSE
MOVP 4 Move to position No. 4 via PTP.
EDIF
EDIF
EXIT
If the current arm system is the right arm and X coordinate is 0 or greater, the axis moves
to position No. 1. If the X coordinate is smaller than 0, it moves to position No. 2. If the left
arm system is currently used and X coordinate is 0 or greater, the axis moves to position
No. 3. If the X coordinate is smaller than 0, it moves to position No. 4.
(Note) Using a GOTO command to branch out of or into an IF -EDIF syntax is prohibited.