Branch Program Instruction | Intelligent Motion Systems 17 instruction

MNEMONIC	FUNCTION	TYPE
BR	Branch	Program Instruction

DESCRIPTION

The branch instruction can be used to perform a conditional or unconditional branch to a routine in an MDrive program. It can also be used to perform loops and IF THEN logic within a program.

There are two parameters to a branch instruction. These are used to perform two types of branches:

Conditional Branch

This type of branch first specifies an address or process label where program execution should continue if the second parameter, the condition, is true. The condition parameter may include flags as well as logical functions that are to be evaluated.

Unconditional Branch

In this type of branch the second parameter is not specified, then the execution will continue at the address specified by the first parameter.

USAGE

BR <addr/label, cond>

EXAMPLE:
BR 256, I2	‘Branch to program line 256 if Input 2 is TRUE
BR 120	‘Unconditional Branch to program line 120

BR JC, I1=1 ‘Branch to process labeled JC if input 1 is True

RELATED COMMANDS: —

MNEMONIC	FUNCTION		TYPE
BY	Busy Flag (Read Only)		Motion Flag
DESCRIPTION
This read only status flag will indicate whether or not the axis is moving.

USAGE	UNITS	RANGE	DEFAULT
PR BY	—	0/1	0

EXAMPLE:
PR BY	‘read the state of the busy flag

RELATED COMMANDS: PR

MNEMONIC	FUNCTION		TYPE
C1	Set Counter 1 (Motor Counts)		Motion Variable

DESCRIPTION

This variable contains the raw count representation of the clock pulses sent to the motor drive.

USAGE	UNITS	RANGE	DEFAULT
C1=<counts>	Motor Counts	-2147483648 to 2147483647	0

EXAMPLE:
C1=20000	‘Set Counter 1 to 20000 motor counts
PR C1	‘Print the value of C1 to the terminal screen

RELATED COMMANDS: C2, P

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Intelligent Motion Systems 17 manual Branch Program Instruction, Busy Flag Read Only Motion Flag

Contents

Operating Instructions Intelligent Motion Systems, Inc All Rights Reserved Table of Contents List of Figures Part 1 General Information and Hardware Specifications Intentionally Left Blank A t u r e S u m m a r y C t i o n O v e r v i e w T a r y M o t o r Specification sStandard Rotary Motor Lmax Control Knob LMAX2 MDI1719 N e a r M o t o r Specification sMDI1715 E e d F o r c e C u r v e 4 5 V D C MDI17 Linear ActuatorE e d F o r c e C u r v e 2 4 V D C MDI17 Acme Screws N e r a l Specification sR i v e 1 7 M o t i o n C o n t r o l a C M E S c r e w C o m m e n d e d I M S P o w e r S u p p l i e s E r m a l Specification sW e r S u p p l y R e q u i r e m e n t s A t u r e S u m m a r y MDI2218 MDrive23 Motion Control Specifications MDI2231 MDI2222 Refer to .10 for screw pitch information MDI23 Linear Actuator MDI23 Acme Screws R i v e 2 3 M o t i o n C o n t r o l a C M E S c r e w IP404MDI23 Page Intentionally Left Blank Y o u t a n d I n t e r f a c e G u i d e l i n e s Connector P1N C o n f i g u r a t i o n a n d D e s c r i p t i o n s C o m m e n d e d W i r i n g T e r f a c i n g P o w e r Connector P2 10 Pin HeaderT e r f a c i n g R S 4 8 5 C o m m u n i c a t i o n s N g l e M D r i v e RS-485 Interface, Multiple MDrive Motion Control System E s o f t h e D i g i t a l I / O T e r f a c i n g t h e D i g i t a l I / OT e r f a c i n g I n p u t s Input Functions Truth Table I/O Used as a Group TTL Interface to Input Group T e r f a c i n g a S i n g l e O u t p u t E x a m p l e s T e r f a c i n g O u t p u t s M p l e U s a g e T e r f a c i n g t h e a n a l o g I n p u t S t e m R e q u i r e m e n t s Install i n g a n d U s i n g I M S Te r m i n a lInstallation I n g t h e I M S Te r m i n a l S o f t w a r e 13 IMS Terminal Upgrader Window E r a t i o n a l M o d e s R i v e M o t i o n C o n t r o l P r o g r a m m i n gS t r u c t i o n s R i a b l e s Y w o r d s A g s T i o n C o m m a n d s T h F u n c t i o n s C o m m a n d s Read IO1 Setup PR S1 Read IO2 Setup PR S2 Please Note Any program labeled SU will execute on power-up VAR CT Baud Mnemonic Function Unit Range Syntax Example I n s t r u c t i o n s , Va r i a b l e s a n d F l a g s T h e m a t i c a l F u n c t i o n s Symbol Function Retrieve All Parameters Variable Baud Rate Setup VariableAcceleration Motion Variable Busy Flag Read Only Motion Flag Branch Program Instruction Clear Program Program Instruction Set Counter 2 Encoder Counts Motion VariableCall Subroutine Program Instruction Deceleration Motion Variable Set Encoder Deadband Setup VariableD1-D5 Digital Input Filtering Variable End Program Execution Program Instruction Drive Enable Flag Setup FlagDevice Name Setup Variable Read-Only Error Flag Status Flag Encoder Enable Flag Setup FlagEcho Mode Flag Setup Flag Execute Program Program Instruction Error Number Variable Status Variable Hold Program Execution Program Instruction Home to Index Mark Variable Setup VariableHold Current Setup Variable Read Input Variable Home to Home Switch Variable Setup VariableHold Current Delay Time Setup Variable Increment Variable Program Instruction Read Analog Input VariableRead Encoder Index Mark Variable Initialize Parameters Instruction Joystick Enable Flag Setup FlagRead Inputs 1-4 As 1 Value Variable Label Program/Subroutine Instruction Lock User Program Setup FlagList Program Space Instruction Move To Relative Position Motion Instruction Motion Instruction PR MS Microstep Resolution Motion Variable O1 O4 Set/Print Output Logic State Variable Motor Settling Delay Time Motion VariableOn Error Handler Instruction Set/Print Position Counter Instruction Set Ouputs 1-4 As 1 Value Variable Print Selected Data/Text Instruction Postition Maintenance Enable Setup FlagEnter/Exit Program Mode Program Instruction Pause Program Instruction Party Mode Enable Flag Setup Flag R1 R4 User Registers User Variable Run Current Setup Variable Save to EEProm Instruction Resume Program InstructionReturn From Subroutine Instruction Set/Print I/O Point Instruction S1 S4 Set/Print I/O Point Type/Active State Instruction Encoder Variable Stall Detection Mode Variable Encoder Variable Trip on Input Variable Trip Enable Flag Setup FlagRead Only Stall Flag Encoder Flag Read User Variables Upgrade Firmware InstructionTrip on Position Variable Create User Variable Name Instruction Read Only Velocity Variable Motion Variable Read Only Firmware Version Factory Variable Appendix a Errors Error Code FaultData Errors Program Errors TWENTY-FOUR Month Limited Warranty Western Region