Lenze E94P PositionServo with MVOB - Manual (Page 94)

92 L PM94H201B_13xxxxxx_EN
Reference
Table 40: IF
IF IF/ENDIF Statement
Purpose The IF statement tests for a condition and then executes the specific action(s) between the IF and
ENDIF statements if the condition is found to be true. If the condition is false, no action is taken and
the instructions following the ENDIF statement are executed. Optionally, using the ELSE statement, a
second series of statements may be specified to be executed if the condition is false.
Syntax IF <condition>
{statements 1}
ELSE
{statements 2}
ENDIF
Remarks
See Also
WHILE, DO
Example:
IF APOS > 4 ;If actual position is greater than 4 units
V0=2
ELSE ;otherwise... (actual position equal or less than 4)
V0=0
ENDIF
;-----------------------------------------------------------------------------
If V1 <> V2 && V3>V4 ;If V1 doesn’t equal V2 AND V3 is greater than V4
V2=9
ENDIF
Table 41: JUMP
JUMP Jump to label from Event handler Statement
Purpose This is a special purpose statement to be used only in the Event Handler code. When the EVENT is
triggered and this statement is processed, execution of the main program is transferred to the <label>
argument called out in the “JUMP” statement. The Jump statement is useful when there is a need
for the program’s flow to change based on some event(s). Transfer of program execution is to the
instruction following the label. When a Jump statement is executed within an event, processing of
subsequent events is suspended until the next event time cycle.
Syntax JUMP <label>
<label> is any valid program label
Remarks Can be used in EVENT handler only.
See Also EVENT
Example:
EVENT ExternalFault INPUT IN_A4 RISE ;activate Event when IN_A4 goes high
JUMP ExecuteStop ;redirect program to <ExecuteStop>
ENDEVENT
StartMotion:
EVENT ExternalFault ON
ENABLE
MOVED 20
MOVED -100
{statements}
END
ExecuteStop:
STOP MOTION ;Motion stopped here
DISABLE ;drive disabled
Wait Until !IN_A4 ;Wait Until Input A4 goes low
GOTO StartMotion