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6 • Contents USER MANUAL
Program Format.....................................................................................................................108
Using Labels in Programs .......................................................................................109
Special Labels..........................................................................................................109
Commenting Programs............................................................................................110
Executing Programs - Multitasking.......................................................................................110
Debugging Programs .............................................................................................................111
Program Flow Commands.....................................................................................................113
Event Triggers & Trippoints....................................................................................113
Event Trigger Examples:.........................................................................................115
Conditional Jumps...................................................................................................117
Using If, Else, and Endif Commands ......................................................................119
Subroutines..............................................................................................................121
Stack Manipulation..................................................................................................121
Auto-Start Routine ..................................................................................................121
Automatic Subroutines for Monitoring Conditions.................................................122
Mathematical and Functional Expressions ............................................................................125
Mathematical Operators ..........................................................................................125
Bit-Wise Operators..................................................................................................125
Functions.................................................................................................................126
Variables................................................................................................................................127
Programmable Variables.........................................................................................127
Operands................................................................................................................................129
Special Operands (Keywords).................................................................................129
Arrays ....................................................................................................................................130
Defining Arrays.......................................................................................................130
Assignment of Array Entries...................................................................................130
Automatic Data Capture into Arrays.......................................................................131
Deallocating Array Space........................................................................................133
Input of Data (Numeric and String).......................................................................................133
Input of Data............................................................................................................133
Output of Data (Numeric and String) ....................................................................................134
Sending Messages ...................................................................................................134
Displaying Variables and Arrays.............................................................................135
Interrogation Commands.........................................................................................136
Formatting Variables and Array Elements..............................................................137
Converting to User Units.........................................................................................138
Hardware I/O.........................................................................................................................138
Digital Outputs ........................................................................................................138
Digital Inputs...........................................................................................................139
Input Interrupt Function ..........................................................................................140
Analog Inputs..........................................................................................................141
Example Applications............................................................................................................142
Wire Cutter..............................................................................................................142
X-Y Table Controller ..............................................................................................143
Speed Control by Joystick.......................................................................................145
Position Control by Joystick....................................................................................146
Backlash Compensation by Sampled Dual-Loop....................................................146
Chapter 8 Hardware & Software Protection
149
Introduction ...........................................................................................................................149
Hardware Protection..............................................................................................................149
Output Protection Lines...........................................................................................149
Input Protection Lines .............................................................................................150
Software Protection ...............................................................................................................150
Programmable Position Limits................................................................................150