Lenze PM94P01C - Manual (Page 48)

PM94P01C 46
Programming
2.9.6 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 the WAIT statement is:
WAIT UNTIL <condition>
WAIT WHILE <condition>
WAIT TIME <time>
WAIT MOTION COMPLETE
2.9.7 GOTO Statement & Labels
The GOTO statement can be used to transfer program execution to a new point marked by a label. This statement is
often used as the action of an IF statement. The destination label may be above or below the GOTO statement in the
application program.
Labels may be any alphanumeric string 64 characters in length beginning with a letter and ending with a colon “:”.
GOTO TestInputs
…statements
TestInputs:
…statements
IF (IN_A1) GOTO TestInputs
Table 14 provides a short description of the instructions used for program branching.
Table 14: Program Branching Instructions
Name Description
GOTO Transfer code execution to a new line marked by a label
DO/UNTIL Do once and keep doing until conditions becomes true
IF and IF/ELSE Execute if condition is true
RETURN Return from subroutine
WAIT Wait fixed time or until condition is true
WHILE Execute while a condition is true
GOSUB Go to subroutine
2.10 Scanned Event Statements
A Scanned Event is a small program that runs independently of the main program. SCANNED EVENTS are very useful
when it is necessary to trigger an action , i.e. handle I/O, while the motor is in motion. When setting up Events, the first
step is to define both the action that will trigger the event as well as the sequence of statements to be executed once the
event has been triggered. Events are scanned every 512µs. Before an Event can be scanned however it must first be
enabled. Events can be enabled or disabled from the user program, from another event or from itself (see explanations
below). Once the Event is defined and enabled, the Event will be constantly scanned until the trigger condition is met,
this scan rate is independent of the main program’s timing. Once the trigger condition is met, the Event statements will
be executed independently of the user program.
Scanned events are used to record events and perform actions independent of the main body of the program. For
example, if you want output 3 to come ON when the position is greater than 4 units, or if you need to turn output 4 ON
whenever input 2 and 3 are ON, you may use the following scanned event statements.
EVENT PositionIndicator APOS > 4
OUT3=1
ENDEVENT
EVENT Inputs3and4 IN_A4 & IN_B1
OUT4=1
ENDEVENT