Galil DMC-2X00 用户手册
DMC-2X00
Chapter 7 Application Programming
y 89
In this example, this statement will cause the program to jump to the label #TEST if V1 is less than V2
and V3 is less than V4. To illustrate this further, consider this same example with an additional
condition:
and V3 is less than V4. To illustrate this further, consider this same example with an additional
condition:
JP #TEST, ((V1<V2) & (V3<V4)) | (V5<V6)
This statement will cause the program to jump to the label #TEST under two conditions; 1. If V1 is
less than V2 and V3 is less than V4. OR 2. If V5 is less than V6.
less than V2 and V3 is less than V4. OR 2. If V5 is less than V6.
Examples
If the condition for the JP command is satisfied, the controller branches to the specified label or line
number and continues executing commands from this point. If the condition is not satisfied, the
controller continues to execute the next commands in sequence.
number and continues executing commands from this point. If the condition is not satisfied, the
controller continues to execute the next commands in sequence.
Instruction Interpretation
JP #LOOP,count<10
Jump to #LOOP if the variable, count, is less than 10
JS #MOVE2,@IN[1]=1
Jump to subroutine #MOVE2 if input 1 is logic level high. After
the subroutine MOVE2 is executed, the program sequencer
returns to the main program location where the subroutine was
called.
the subroutine MOVE2 is executed, the program sequencer
returns to the main program location where the subroutine was
called.
JP #BLUE,@ABS[v2]>2
Jump to #BLUE if the absolute value of variable, v2, is greater
than 2
than 2
JP #C,v1*v7<=v8*v2
Jump to #C if the value of v1 times v7 is less than or equal to the
value of v8*v2
value of v8*v2
JP#A
Jump to #A
Move the A motor to absolute position 1000 counts and back to zero ten times. Wait 100 msec
between moves.
between moves.
Instruction Interpretation
#BEGIN Begin
Program
count=10
Initialize loop counter
#LOOP Begin
loop
PA 1000
Position absolute 1000
BGA Begin
move
AMA
Wait for motion complete
WT 100
Wait 100 msec
PA 0
Position absolute 0
BGA Begin
move
AMA
Wait for motion complete
WT 100
Wait 100 msec
count = count -1
Decrement loop counter
JP #LOOP, count >0
Test for 10 times thru loop
EN
End Program
If, Else, and Endif
The DMC-2x00 provides a structured approach to conditional statements using IF, ELSE and ENDIF
commands.
commands.