Lenze PM94P01C - Manual (Page 33)

PM94P01C 31
Introduction
1.11.2 Loops
SML language supports WHILE/ENDWHILE block statement which can be used to create conditional loops. Note that
IF-GOTO statements can also be used to create loops.
The following example illustrates calling subroutines as well as how to implement looping by utilizing WHILE / ENDWHILE
statements.
;*************************** Initialize and Set Variables ******************
UNITS = 1
;Units in Revolutions (R)
ACCEL = 15 ;15 Rev per second per second (RPSS)
DECEL = 15 ;15 Rev per second per second (RPSS)
MAXV = 100 ;100 Rev per second (RPS)/6000RPM
APOS = 0 ;Set current position to 0 (absolute zero position)
DEFINE LOOPCOUNT V1
DEFINE LOOPS 10
DEFINE DIST V2
DEFINE REPETITIONS V3
REPETITIONS = 0
;******************************* Main Program ********************************
PROGRAM_START:
;Place holder for main program loop
ENABLE ;Enable output from drive to motor
MAINLOOP:
LOOPCOUNT=LOOPS ;Set up the loopcount to loop 10 times
DIST=10 ;Set distance to 10
WHILE LOOPCOUNT ;Loop while loopcount is greater than zero
DIST=DIST/2 ;decrease dist by 1/2
GOSUB MDS ;Call to subroutine
WAIT TIME 100 ;Delay executes after returned from the subroutine
LOOPCOUNT=LOOPCOUNT-1 ;decrement loop counter
ENDWHILE
REPETITIONS=REPETITIONS+1 ;outer loop
IF REPETITIONS < 5
GOTO MAINLOOP
Wait Motioncomplete
;Wait for MDV segments to be completed
ENDIF
END
;****************************** Sub-Routines ******************************
MDS:
V4=dist/3
MDV V4,10
MDV V4,10
MDV V4,0
RETURN
NOTE
Running this code as is will most likely result in F_23. There are 3 MDV statements that are
executed 10 times = 30 moves. Then the condition set on the repetitions variable makes the
program execute the above another 4 times. 4 x 30 = 120. The 120 moves, with no waits anywhere
in the program will most likely produce an F_23 fault (Motion Queue overflow).