Lenze PM94P01C User Manual
Page 3
PM94P01C
1
Contents
1.
Introduction ............................................................................................................................. 4
1.1
Definitions ..................................................................................................................................................4
1.2
Programming Flowchart .............................................................................................................................5
1.3
MotionView / MotionView Studio ...............................................................................................................6
1.3.1
Main Toolbar ............................................................................................................................6
1.3.2
Program Toolbar ......................................................................................................................8
1.3.3
MotionView Studio - Indexer Program .....................................................................................9
1.4
Programming Basics ................................................................................................................................10
1.5
Using Advanced Debugging Features .....................................................................................................17
1.6
Inputs and Outputs ..................................................................................................................................17
1.7
Events ......................................................................................................................................................22
1.8
Variables and Define Statement ..............................................................................................................23
1.9
IF/ELSE Statements ................................................................................................................................24
1.10
Motion ......................................................................................................................................................25
1.10.1
Drive Operating Modes ..........................................................................................................26
1.10.2
Point To Point Moves .............................................................................................................26
1.10.3
Segment Moves .....................................................................................................................27
1.10.4
Registration ............................................................................................................................28
1.10.5
S-Curve Acceleration .............................................................................................................29
1.10.6
Motion Queue ........................................................................................................................29
1.11
Subroutines and Loops ............................................................................................................................30
1.11.1
Subroutines ............................................................................................................................30
1.11.2
Loops .....................................................................................................................................31
2.
Programming ........................................................................................................................ 32
2.1
Program Structure ...................................................................................................................................32
2.2
Variables ..................................................................................................................................................34
2.3
Arithmetic Expressions ............................................................................................................................36
2.4
Logical Expressions and Operators .........................................................................................................36
2.4.1
Bitwise Operators ..................................................................................................................36
2.4.2
Boolean Operators .................................................................................................................37
2.5
Comparison Operators ............................................................................................................................37
2.6
System Variables and Flags ....................................................................................................................38
2.7
System Variables Storage Organization ..................................................................................................38
2.7.1
RAM File for User’s Data Storage .........................................................................................38
2.7.2
Memory Access Through Special System Variables .............................................................39
2.7.3
Memory Access Through MEMSET, MEMGET Statements .................................................40
2.8
System Variables and Flags Summary ....................................................................................................41
2.8.1
System Variables ...................................................................................................................41
2.8.2
System Flags .........................................................................................................................42
2.9
Control Structures ....................................................................................................................................43
2.9.1
DO/UNTIL Structure ..............................................................................................................43
2.9.2
WHILE Structure ....................................................................................................................43
2.9.3
Subroutines ............................................................................................................................44
2.9.4
IF Structure ............................................................................................................................45
2.9.5
IF/ELSE Structure ..................................................................................................................45
2.9.6
WAIT Statement ....................................................................................................................46
2.9.7
GOTO Statement & Labels ....................................................................................................46
2.10
Scanned Event Statements .....................................................................................................................46