Lenze PMSS1000 Simple Servo Manuel d'utilisateur télécharger pdf (Page 25)

Indexer-Programmer-Manual.pdf REV 1.3

On the other hand, MDV statement execution never suspends the program because each individual

statement sets portions of motion profile. Every motion profile or portion of (in case of MDV statement)

generated by motion statements MOVEP,MOVED or MDV first go to motion stack and than executed one

by one. In the other hand if statement doesn't have ",C" modifier motion profile generated by this

statement goes to motion stack and program suspended until this profile has been executed.

1.11 Subroutines and Loops

Subroutines

Often it is necessary to repeat a series of steps in several places in a program. Subroutines can be useful

in such situations. The syntax of a subroutine is simple. Subroutines must be placed after the main

program (after END statement), must start with subname: label (where subname is name of subroutine),

and must end with a statement RETURN.

Note that it can be more than one RETURN statement in a subroutine. Subroutines are called using the

GOSUB statement.

Loops

SML language supports WHILE/ENDWHILE block statement which can be used to create repetition

loops. Note that IF-GOTO statements can also be used to create loops.

Following example shows a subroutine called MDS and WHILE/ENDWHILE block statement to implement

looping.

DEFINE LOOPCOUNT V1

DEFINE LOOPS 10

DEFINE dist V2

DEFINE repetitions V3

repetitions=0

MainLoop:

LOOPCOUNT=LOOPS

dist=10

WHILE LOOPCOUNT ;inner performs LOOPS times

dist=dist/2

GOSUB MDS ;Call to subroutine

WAIT 100 ;this executes when returned

;from subroutine

LOOPCOUNT=LOOPCOUNT-1 ;decrement loop counter

ENDWHILE

repetitions=repetitions+1 ;outer loop

IF repetitions < 5

goto main

ENDIF

END

;-------------------Main program End---------------------------------

;--------------------------------------------------------------------

;Motion subroutine

;----------------------------------------------------------------------------

MDS:

V4=dist/3

MDV V4, 10

MDV V4,10

MDV V4,0

RETURN

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Lenze PMSS1000 Simple Servo Manuel d'utilisateur Page 25

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