User guide

Chapter 1. Programming Fundamentals 5
General Guidelines for Syntax
Topic Guideline Examples *
Neutral Characters:
• Space (
<sp> )
• Tab (
<tab> )
Using neutral characters anywhere within a
command will not affect the command.
(In the examples on the right, a space is
represented by
<sp> , a tab is <tab>) , and a
carriage return is
<cr> .)
Set velocity on axis 1 to 10 rps and axis 2 to 25 rps:
V
<sp> 1Ø, <sp> 25,, <cr>
Add a comment to the command:
V 1Ø, 25,,
<tab> ;set accel <cr>
Command Delimiters:
• Carriage rtn (
<cr> )
• Line feed (
<lf> )
• Colon (:)
All commands must be separated by a
command delimiter. A carriage return is the
most commonly used delimiter. To use a line in
a live terminal emulator session, press ctrl/J.
The colon (:) delimiter allows you to place
multiple commands on one line of code, but
only if you add it in the program editor (not
during a live terminal emulator session).
Set acceleration on axis 2 to 10 rps
2
:
A,1Ø,,
<cr>
A,1Ø,, <lf>
A,1Ø,, : V,25,, : D,25ØØØ,, : @GO <cr>
Comment Delimiter (;) All text between a comment delimiter and a
command delimiter is considered
program
comments
.
Add a comment to the command:
V1Ø<tab> ;set velocity
<cr>
Field Separator (,) Commands with the symbol r or i in their
Syntax description require field separators.
Commands with the symbol b or d in their
Syntax description do not require field
separators (but they may be included).
Axes not participating in the command need
not be specified; however, field separators
that are normally required must be specified.
Set velocity on axes 1-4 to 10, 25, 5 and 10 rps,
respectively:
V1Ø,25,5,1Ø
<cr>
Initiate motion on axes 1, 3 and 4:
GO1Ø11
<cr>
GO1,Ø,1,1 <cr>
Set velocity on axis 2 to 5 rps:
V,5,,
<cr>
Global Command
Identifier (@)
When you wish to set the command value
equal on all axes, add the @ symbol at the
beginning of the command (enter only the
value for one command field).
Set velocity on all axes to 10 rps:
@V1Ø
<cr>
Bit Select Operator (.) The bit select operator allows you to affect
one binary bit without having to enter all the
preceding bits in the command.
Syntax for setup commands:
[command name].[bit #]-[binary value]
Syntax for conditional expressions:
[command name].[bit #]=[binary value]
Enable error-checking bit #9:
ERROR.9-1
<cr>
IF statement based on value of axis status bit #12:
IF(1AS.12=b1)
<cr>
Case Sensitivity There is no case sensitivity. Use upper or
lower case letters within commands.
Initiate motion on axes 1, 3 and 4:
GO1Ø11
<cr>
go1Ø11 <cr>
Left-to-right Math All mathematical operations assume left-to-
right precedence.
VAR1=5+3*2 <cr>
Result: Variable 1 is assigned the value of 16
(8*2), not 11 (5+6).
* Non-visible characters are represented: space = <sp> , tab = <tab> , carriage return (or enter key) = <cr> , line feed = <lf> .
NOTE: The command line is limited to 80 characters (excluding spaces).