Instruction Manual

Language Reference • Reference 221
Publication 1398-PM601A-EN-P — October 2000
WORDS
action2 The action to be taken if the condition is FALSE. The action may
be any programming statement. Multiple statements may be
enclosed in curly braces {}.
Remarks Only action1 or action2 will happen. It is impossible for both actions to take place.
See Also WHILE, DO/WHILE
Example
IF POSN>5 O2 = ON ELSE 02 = OFF
IF F3 = ON JUMP BEGIN
IF (V1 <> 10) V1 = V1 + 1
IF I12 = ON CLEAR
IF F7 = OFF CALL SUB1
IF G1 < = 0 READ G1
IF I1 = ON ;IF input 1 on move 1 and turn on output 1
{
MOVD = 1
O1 = ON
}
ELSE ;Else move distance 2 and turn on output 2
{
MOVD = 2
O2 = ON
}
IGAIN
Integral Gain, Velocity Loop Gain
Purpose Set the integral gain for the velocity regulator. IGAIN can be changed at any time in
the program.
Syntax IGAIN = value
variable = IGAIN
value The value can be a constant, a nonvolatile variable Gn, a vola-
tile variable Vn, or a system variable.
variable The variable may be a nonvolatile variable Gn, a volatile vari-
able Vn, or a system variable.
Remarks Changes made to this variable by a program are only in effect while the program is
running. When the program ends it will return to the value stored in the Personality
Module. If no change is made to this variable by the program, the value in the Person-
ality Module is used. The value in the Personality Module is set in the Parameter
menu, Gains/Limits dialog box.
See Also PGAIN, FGAIN
Example
IGAIN = 0
IG = V10