Rockwell Automation 1398-PDM-xxx IQ Master Version 3.2.4 for IA-2000 and IQ-5000 Positioning Drive Modules, IQ-55 - Manual (Page 216)

194 Language Reference • Reference
Publication 1398-PM601A-EN-P — October 2000
WORDS
action The action to be taken if the condition is TRUE. The only
action that is valid for the DIF instruction is JUMP.
CAUTION: If a DV or DIF instruction is not executed quickly
the motor will attempt to come to an instantaneous stop. You
should avoid PRINT, READ, and CLEAR statements and only
attempt to do one or two instructions before executing the next
DIF or DV.
Remarks The program will stop executing at this line until the commanded position has gone
the specified distance or the condition has been satisfied.
The DIF statement can only be used in a subroutine or the main body of the program.
It may not be used in Fkey, Xkey, or Scanned Event routines.
See Also DV, MOVD, MOVP, MOVV
Example
D = 1, V = 20 ;Accel to 20 in a distance of 1
DIF = 4, I1 = ON, JUMP STOPNOW ;If input 1 comes on stop now else
STOPNOW: ;stop after a distance of 4
D = 1, V = 0 ;Decel to a stop in a distance of 1
Velocity
Time
Input 1 ON
Conditional end
of Move
Normal end
of Move
20