Galil Motion Control CDS-3310, Руководство пользователя

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CDS-3310 Chapter 7 Application Programming
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Command Format - IF, ELSE and ENDIF
Format: description
IF conditional statement(s) Execute commands proceeding IF command (up to ELSE command) if
conditional statement(s) is true, otherwise continue executing at ENDIF
command or optional ELSE command.
ELSE Optional command. Allows for commands to be executed when argument
of IF command evaluates not true. Can only be used with IF command.
ENDIF Command to end IF conditional statement. Program must have an ENDIF
command for every IF command.
Instruction Interpretation
#TEST Begin Main Program "TEST"
II,,3 Enable interrupts on input 1 and input 2
MG "WAITING FOR INPUT 1, INPUT 2" Output message
#LOOP Label to be used for endless loop
JP #LOOP Endless loop
EN End of main program
#ININT Input Interrupt Subroutine
IF (@IN[1]=0) IF conditional statement based on input 1
IF (@IN[2]=0) 2
nd
IF executed if 1
st
IF conditional true
MG "INPUT 1 AND INPUT 2 ARE ACTIVE" Message executed if 2
nd
IF is true
ELSE ELSE command for 2
nd
IF statement
MG "ONLY INPUT 1 IS ACTIVE Message executed if 2
nd
IF is false
ENDIF End of 2
nd
conditional statement
ELSE ELSE command for 1
st
IF statement
MG"ONLY INPUT 2 IS ACTIVE" Message executed if 1
st
IF statement
ENDIF End of 1
st
conditional statement
#WAIT Label to be used for a loop
JP#WAIT,(@IN[1]=0) | (@IN[2]=0) Loop until Input 1& 2 are not active
RI0 End Input Interrupt Routine without restoring
trippoints
Subroutines
A subroutine is a group of instructions beginning with a label and ending with an end command (EN).
Subroutines are called from the main program with the jump subroutine instruction JS, followed by a
label or line number, and conditional statement. Up to 8 subroutines can be nested. After the
subroutine is executed, the program sequencer returns to the program location where the subroutine
was called unless the subroutine stack is manipulated as described in the following section.
An example of a subroutine is given below.