User`s manual

7-6 Motion Mate™ DSM314 for Series 90™-30 PLCs User's Manual – January 2001 GFK-1742A
7
Motion Language Syntax and Commands
White space
White space has no significance and is ignored, except where necessary to use as a separator. For
example, in “CMOVE AXIS1 50000,ABS,S-CURVE” a space is required as a separator between
CMOVE and AXIS1, but is not required in the phrase 50000,ABS because the comma separates
the parameters. Blanks, blank lines, and tabs are considered white space.
Numeric Constants
Numeric constants are limited to 32-bit integer values, which may be signed or unsigned
depending on the context in which they are used. All motion commands further limit this range.
Numeric constants may be entered as decimal, hexadecimal, or binary values. Hexadecimal and
binary constants are identified by the prefixes, 16# and 2#, respectively (do not use a space
between the prefix and the number). Hexadecimal and binary constants cannot be prefixed with a
negative sign. Therefore, negative values must be entered in two’s complement form. Numeric
constants may contain single underline characters (e.g. 5_000_000) between digits to improve the
readability of large numbers or to represent implied decimal points in fixed point numbers.
Comments
The
(*
character pair introduce a normal comment, which terminates with the
*)
character pair.
These comments may appear anywhere white space can, for example within or following a motion
program statement, alone on a line, or spanning several lines. These comments do not nest. The
//
character pair introduces a single line comment. All text following the
//
to the end of the line
is ignored by the Motion Editor. However, if using the //, do not force a break to the next line (by
using a Return) or an error will result. If you wish to make long comments readable on the
Motion Editor screen without the need for scrolling to the right, you can use the (* and *) symbols
(required for multi-line comments) along with Returns (created by pressing the Enter key), which
force the text to break to the next line.
Motion Program Key Words
The following words have special significance in the motion programming language.
ABS AXIS3 ENDSUB MULTI-AXIS SUB
ABSOLUTE AXIS4 ENDS PMOVE SYNC
ACCEL CALL INCR PROGRAM VELOC
ACC CMOVE INCREMENTAL PROG VEL
ACCELERATION DWELL JUMP S-CURVE VELOCITY
AXIS1 ENDP LINEAR SINGLE-AXIS WAIT
AXIS2 ENDPROG LOAD SUBROUTINE