ACR Electronics FPR-10 PROGRAMMER Manual descarregar pdf (Página 53)

Parker Hannifin

Programming Basics 53

Here is how it works. When the IF condition is true, the subsequent

statements are executed. When the IF condition is false, each ELSEIF

statement is tested in order. When an ELSEIF condition tests true, the

subsequent statements are executed. When the ELSEIF condition test

false, the statements following ELSE condition execute. After

executing the statements following an IF, ELSEIF, or ELSE, the

program moves past the ENDIF to continue program execution.

When using the ELSEIF condition, you can omit the ELSE condition.

When the IF and ELSEIF conditions test false, statement execution

after the ENDIF continues. Think of it as creating a series of IF/THEN

statements.

GOSUB

The GOSUB branches to a subroutine and returns when complete.

You can use GOSUB and RETURN anywhere in a program, but both

must be in the same program. A procedure can contain multiple

RETURN statements. However, on encountering the first RETURN

statement, the program execution branches to the statement

directly following the most recently executed GOSUB statement.

Example

The following example demonstrates a simple GOSUB routine.

GOSUB Label1

…

_Label1

PRINT “Inside Label1 subroutine”

RETURN

GOTO

The GOTO statement provides an unconditional branch within a

procedure. You can only use the GOTO in the procedure in which it

appears.

You can nest GOTO statements in an IF/THEN statement.

NOTE: The GOTO statement makes code difficult to read and

maintain.

Example

The following demonstrates a simple GOTO statement. The program

sets output bit 32, then moves axis X one incremental unit in the

positive direction. The program pauses until the “Not in Position“ bit

768 is clear, then clears the output, waits 2 seconds, and goes to

LOOP1.

ACC10 DEC10 STP10 VEL1

_LOOP1

SET 32

X/1

INH -768

CLR 32

DWL 2

GOTO LOOP1

1 2 ... 48 49 50 51 52 53 54 55 56 57 58 ... 198 199

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