Lenze E94P PositionServo with MVOB - Manual (Page 47)

PM94H201B_13xxxxxx_EN L 45
Programming
2.9.2 DO/UNTIL Structure
The flowchart and code segment in Figure 14 illustrate the use of the DO/UNTIL statement. This statement is used
to execute a block of code one time and then continue executing that block until a condition becomes true (satisfied).
The difference between DO/UNTIL and WHILE statements is that the DO/UNTIL instruction tests the condition after
the block is executed so the conditional statements are always executed at least one time. The syntax for DO/UNTIL
statement is:
DO
…statements
UNTIL <condition>
… statements
DO
MOVED 3
WAIT TIME 2000
UNTIL IN_A3
…statements
Start
Move DIstance 3
units. Delay 2
seconds
Is input A3 ON?
End
YES
NO
Figure 14: DO/UNTIL Code and Flowchart
2.9.3 WHILE Structure
The flowchart and code segment in Figure 15 illustrate the syntax for the WHILE instruction. This statement is used if
you want a block of code to execute while a condition is true.
WHILE <condition>
…statements
ENDWHILE
…statements
WHILE IN_A3
MOVED 3
WAIT TIME 2000
ENDWHILE
…statements
Start
Is input A3 ON?
End
YES
NO
Move DIstance 3
units. Delay 2
seconds
Figure 15: WHILE Code and Flowchart
2.9.4 WAIT Statement
The WAIT statement is used to suspend program execution until or while a condition is true, for a specified time period
(delay) or until motion has been completed. The simplified syntax for this statement is:
WAIT UNTIL <condition>
WAIT WHILE <condition>
WAIT TIME <time>
WAIT MOTION COMPLETE