Lenze PM94P01C - Manual (Page 3)

PM94P01C 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 ......................................................................................................................8
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 Variables and 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 .............................................................................................................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 ....................................................................................................................38
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
2.8 System Variables and Flags Summary ....................................................................................................41
2.8.1
System Variables ...................................................................................................................41
2.8.2 System Flags .........................................................................................................................42
2.9 Control Structures ....................................................................................................................................43
2.9.1
DO/UNTIL Structure ..............................................................................................................43
2.9.2 WHILE Structure ....................................................................................................................43
2.9.3 Subroutines ............................................................................................................................44
2.9.4 IF Structure ............................................................................................................................45
2.9.5 IF/ELSE Structure ..................................................................................................................45
2.9.6 WAIT Statement ....................................................................................................................46
2.9.7 GOTO Statement & Labels ....................................................................................................46
2.10 Scanned Event Statements .....................................................................................................................46