User`s manual

7-18 Motion Mate™ DSM314 for Series 90™-30 PLCs User's Manual

–

January 2001 GFK-1742A

Multi-Axis Program Structure

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PROGRAM definition statement

. It must be the first line of the program. It must

identify the program number and the fact that this is a multi-axis program by using the

MULTI-AXIS term. For example:

PROGRAM 3 MULTI-AXIS

•

Body

. The program body contains the actual program commands. Note that in a multi-axis

program, you must specify an axis number in many of the commands. Failure to do so will

generate an error. Note that the axis number term, such as AXIS1, must not have a space

within it. An example of correct syntax for a multi-axis program command is:

ACCEL AXIS1 50000

•

End of Program

. Uses the ENDPROG statement. This statement clearly identifies the end

of the program and helps separate one program or subroutine from another. The

ENDPROG should be the only thing on the last line of any program:

ENDPROG

Multi-Axis Program Example

Note that the term MULTI-AXIS must be used in the PROGRAM statement on the first line, and

that axis numbers are specified in the applicable commands in the program body.

PROGRAM 1 MULTI-AXIS

ACCEL AXIS1 500000

VELOC AXIS1 5000

1: CMOVE AXIS2 –100000, ABS, LINEAR

DWELL AXIS2 6000

JUMP CTL31, 1

CALL P255

LOAD P215, 2000

PMOVE AXIS1 8388607, INCR, S-CURVE

ENDPROG