User guide

90 6250 Servo Controller User Guide
Current
Commanded &
Actual Position
The current commanded and actual positions (ANI, DAC, FB, PC, PCA, PCC, PCE, PER,
PE) can be used within an expression, if the operand is compared against a numeric variable or
value. When making the comparison, the relational operators (=, >, >=, <, <=, <>) and
logical operators (AND, OR, NOT) are used.
Expression Description
(VAR1<1PE) True expression if the value of variable 1 is less than the actual
position of axis 1
(2PC=4ØØØ) True expression if axis 2 commanded position equals 4000
Error, Axis, and
System Status
The error status, axis status, and system status operands (ER, PER, AS, SS) can be used
within an expression, if the operand is compared against a binary variable or a binary or
hexadecimal value. When making the comparison, the relational operators (=, >, >=, <, <=,
<>) and logical operators (AND, OR, NOT) are used.
Expression Description
(ER.12=b1) True expression if error status bit 12 is equal to 1
(AS=h3FFD) True expression if axis status is equal to hexadecimal 3FFD
Timer Values
The current timer value (TIM) can be used within an expression, if the operand is compared
against a numeric variable or value. When making the comparison, the relational operators
(=, >, >=, <, <=, <>) and logical operators (AND, OR, NOT) are used.
Expression Description
(VAR1<TIM) True expression if the value of variable 1 is less than the timer
value
Data Read from
the Serial Port
The READ command can be used to input data from the RS-232C serial port into a numeric
variable. After the data has been read into a numeric variable, that variable may be used in an
expression.
Example Description
VARS8="ENTER DATA" Define message (string variable 8)
VAR2=READ8 Send message (string variable 8) and then wait for immediate
data to be read (into numeric variable 2)
!'88.3 Immediate data input
IF (VAR2<=1ØØ) Evaluate expression to see if data read is < or equal to 100
. . . . .
NIF End of IF
Data Read from
the RP240
The DREAD and DREADF commands can be used to input data from the RP240 into a numeric
variable. DREAD reads a number from the RP240's numeric keypad. DREADF reads a number
representing a RP240 function key. After the data has been read into a numeric variable, that
variable may be used in an expression.