Emerson Epsilon EP Drive 400518-01 Manual de instalación descargar pdf (Pagina 118)

106

Epsilon EP-P Drive and FM-3/4 Module Reference Manual

DriveOutput.1=OFF

Wait For Index.AnyCommandComplete

Loop

Call Program

This program flow instruction is used to call another program. When the called program finishes the controller picks up where

it left off in the program that called it. This is often used when a section of code is used in multiple places in a program. By

moving the code to another program and calling that program the total number of program lines can be reduced. This can also

make the program easier to understand. Care should be taken not to “nest” more than four program calls due to processor

stack overflow. Therefore, no more than four different programs should be called without returning to the original program.

In the diagram below, => Represents a Call Program instruction

Examples:

Call Program.10 ‘Program 10 contains a complex home

‘routine.

Call Program.100 ‘Program 100 contains a “teach position”

‘routine.

End

This program flow instruction is used to halt the execution of the program. It can be used in multiple places within the

program. It is not required on the last line of every program. It is implied that after the controller executes the last line of

code in a program the program will halt. It is commonly used inside of If/Then/Endif constructs to end the program if a certain

condition has been met.

Examples:

If DriveInput.1=OFF Then

End

Endif

If DriveInput.1=ON Then

DriveOutput.1=ON

End

Endif

Formula

This program instruction can be used to enter a formula or assignment into a program. All FM-3/4 parameters are available

for use in a formula. They may be dragged and dropped into a formula, but the program User Level will determine how many

appear for dragging and dropping (see the section on User Level in the Setting Up Parameters chapter). Formulas can also be

created by simply typing them into the program. This instruction was created to inform the user that formulas can be used in

a program.

Examples:

Index.1.Vel = 20.0

Index.0.Dist = Index.2.Dist + 0.1

DriveOutput.1 = ON

Index.0.Accel = (Index.0.Accel*1000)+5.00

BitAnd

This operator may be used when it is desirable to AND each individual bit of a 32-bit parameter.

var.var2 = var.var0 bitand var.var1

For example: if var.var0 = 1000 and var.var1 = -1

var.var0 = 0000000000000000000001111101000b

Program0=>Program1=>Program2=>Program3=>Program4 => NO MORE THAN 4!

1 2 ... 113 114 115 116 117 118 119 120 121 122 123 ... 239 240

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Emerson Epsilon EP Drive 400518-01 Manual de instalación Pagina 118

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