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Programming
In the diagram below, => Represents a Call Program instruction
Program0=>Program1=>Program2=>Program3=>Program4 => NO MORE THAN 4!
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
Examples:
Index.1.Vel = 20.0
Index.0.Dist = Index.2.Dist + 0.1
ModuleOutput.1 = ON
Index.0.Accel = (Index.0.Accel*1000)+5.00
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