Galil DMC-2X00 user manual Examples, If, Else, and Endif, Jp#A, #Begin

In this example, this statement will cause the program to jump to the label #TEST if V1 is less than V2 and V3 is less than V4. To illustrate this further, consider this same example with an additional condition:

JP #TEST, ((V1<V2) & (V3<V4)) (V5<V6)

This statement will cause the program to jump to the label #TEST under two conditions; 1. If V1 is less than V2 and V3 is less than V4. OR 2. If V5 is less than V6.

Examples

If the condition for the JP command is satisfied, the controller branches to the specified label or line number and continues executing commands from this point. If the condition is not satisfied, the controller continues to execute the next commands in sequence.

Instruction	Interpretation
JP #LOOP,count<10	Jump to #LOOP if the variable, count, is less than 10
JS #MOVE2,@IN[1]=1	Jump to subroutine #MOVE2 if input 1 is logic level high. After
	the subroutine MOVE2 is executed, the program sequencer
	returns to the main program location where the subroutine was
	called.
JP #BLUE,@ABS[v2]>2	Jump to #BLUE if the absolute value of variable, v2, is greater
	than 2
JP #C,v1*v7<=v8*v2	Jump to #C if the value of v1 times v7 is less than or equal to the
	value of v8*v2
JP#A	Jump to #A

Move the A motor to absolute position 1000 counts and back to zero ten times. Wait 100 msec between moves.

Instruction	Interpretation
#BEGIN	Begin Program
count=10	Initialize loop counter
#LOOP	Begin loop
PA 1000	Position absolute 1000
BGA	Begin move
AMA	Wait for motion complete
WT 100	Wait 100 msec
PA 0	Position absolute 0
BGA	Begin move
AMA	Wait for motion complete
WT 100	Wait 100 msec
count = count -1	Decrement loop counter
JP #LOOP, count >0	Test for 10 times thru loop
EN	End Program

If, Else, and Endif

The DMC-2x00 provides a structured approach to conditional statements using IF, ELSE and ENDIF commands.

DMC-2X00 Chapter 7 Application Programming y 89