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Basic Information
Section 6-1
Calling Sub-program
If a sub-program has been called using the GOSUB command, all modal data
is inherited. Also, when the operation returns to the main program from sub-
program, all modal data is inherited.
Parallel Branching
If parallel branching has been executed using the PARALLEL command,
modal data for all the branches is inherited.
Modal data that has been changed during each branch will not affect other
branches.
When branches join together again, the modal data of the leftmost branch is
inherited to subsequent blocks.
END Command Execution
The execution of END command does not initialize modal data.
6-1-8
Nesting
Nesting levels for nest-able commands are as follows:
6-1-9
Unit for Time
The unit for time used for the following commands is [ms].
The minimum command unit is 1msec, however, the actual resolution is deter-
mined based on the system scan cycle (remainder to be omitted).
6-1-10 Conditional Expression
Conditional expressions can be used for the following commands.
Conditional expressions are shown in the following table. Immediate values or
variables are the only the objects of comparison. If other data types are used,
the program cannot be downloaded.
2
PASSMODE/
STOPMODE
PASSMODE
P00M08 (M = 1-8)
3
Operand F
F = 0
P00M09 (M = 1-8)
Group
Command
Default value
Parameter No.
Command
Motion task
GOSUB
5 layers
WHILE-WEND
10 layers
FOR-NEXT
10 layers
IF-ELSE-ENDIF
10 layers
Command
Time
MOVET
Positioning time
CAM
Cam execution time
DWELL
Dwell time
Command
Function
WAIT
Wait for Condition to be Met
STOPOP
Optional End
IF
Conditional Branching
WHILE
Repeat While
Conditional
Expression
Format
Equal to
(Immediate value or Variable) = = (Immediate value or Variable)
Not equal to
(Immediate value or Variable)<>(Immediate value or Variable)
Greater than
(Immediate value or Variable)>(Immediate value or Variable)
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