Instruction Manual

248 Language Reference • Reference

Publication 1398-PM601A-EN-P — October 2000

WORDS

PGMTYPE

Program Type Compiler Options

Purpose Set the type of program to be compiled.

Syntax PGMTYPE = MAINPGM/AUTOPGM/FKEYPGM/ERRPGM/CAMPROF

Remarks The PGMTYPE statement overrides the default compiler option for Program Type set

in the Edit menu, Compiler Options dialog box.

MAINPGM: Normal motion program

AUTOPGM: Auto program, System program zero

FKEYPGM: Fkey program, System programs 1-24

ERRPGM: Error Routine program, System program 27

CAMPROF: Cam profile, requires IQ Cam compiler

This statement requires IQ Master version 3.0 or later.

See Also DEBUG, COMPILETOMEMORY, LISTFILE, EXPANDMACROS

Example

PGMTYPE = MAINPGM

PGMTYPE = FKEYPGM

PICMD

Current Command, Peak Current

Purpose Peak current command in amperes.

Syntax variable = PICMD

variable The variable may be a nonvolatile variable Gn, a volatile vari-

able Vn, or a system variable.

Remarks ICMD is calculated every velocity loop update (1mS). If the current value is greater

than the previous peak, the value is saved as the new peak. The magnitude of the peak

is calculated based on an absolute value of current command (ICMD). The value is

saved and reported as a signed number, however. The variable is scaled by the drive

module current (Dm).

CLRPEAKS resets this value to zero.