Lenze E94P PositionServo with MVOB - Manual (Page 3)

PM94H201B_13xxxxxx_EN L 1
Contents
1. Introduction ............................................................................................................................. 4
1.1 Definitions ................................................................................................................................. 4
1.2
Programming Flowchart ........................................................................................................... 5
1.3 MotionView / MotionView Studio .............................................................................................. 6
1.3.1 Main Toolbar ............................................................................................................................6
1.3.2 Program Toolbar ......................................................................................................................7
1.3.3 MotionView Studio - Indexer Program .....................................................................................9
1.4 Programming Basics .............................................................................................................. 10
1.5 Using Advanced Debugging Features .................................................................................... 17
1.6 Inputs and Outputs ................................................................................................................. 17
1.7 Events ..................................................................................................................................... 22
1.8
User Variables and the Define Statement .............................................................................. 23
1.9 IF/ELSE Statements ............................................................................................................... 24
1.10 Motion ..................................................................................................................................... 25
1.10.1 Drive Operating Modes ..........................................................................................................26
1.10.2 Point To Point Moves .............................................................................................................26
1.10.3 Segment Moves .....................................................................................................................27
1.10.4 Registration ............................................................................................................................28
1.10.5
S-Curve Acceleration/Deceleration ........................................................................................29
1.10.6 Motion Queue ........................................................................................................................29
1.11 Subroutines and Loops ........................................................................................................... 30
1.11.1 Subroutines ............................................................................................................................30
1.11.2 Loops .....................................................................................................................................31
2. Programming ........................................................................................................................ 32
2.1 Program Structure .................................................................................................................. 32
2.2 Variables ................................................................................................................................. 34
2.3
Arithmetic Expressions ........................................................................................................... 36
2.4 Logical Expressions and Operators ........................................................................................ 36
2.4.1 Bitwise Operators ..................................................................................................................36
2.4.2 Boolean Operators .................................................................................................................37
2.5 Comparison Operators ........................................................................................................... 37
2.6 System Variables and Flags ................................................................................................... 37
2.7 System Variables Storage Organization ................................................................................. 38
2.7.1 RAM File for User’s Data Storage .........................................................................................38
2.7.2 Memory Access Through Special System Variables .............................................................39
2.7.3 Memory Access Through MEMSET, MEMGET Statements .................................................40
2.7.4 Store and Retrieve Variables from the EPM ..........................................................................41
2.8 System Variables and Flags Summary .................................................................................. 42
2.8.1 System Variables ...................................................................................................................42
2.8.2 System Flags .........................................................................................................................43
2.9 Control Structures ................................................................................................................... 44
2.9.1 IF Structure ............................................................................................................................44
2.9.2 DO/UNTIL Structure ..............................................................................................................45
2.9.3 WHILE Structure ....................................................................................................................45
2.9.4 WAIT Statement ....................................................................................................................45
2.9.5 GOTO Statement and Labels ................................................................................................46
2.9.6 Subroutines ............................................................................................................................46
2.10 Scanned Event Statements .................................................................................................... 47