Lenze E94P PositionServo with MVOB Uživatelský manuál stáhnout pdf (Strana 3)

PM94H201B_13xxxxxx_EN L 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 ...................................................................................................................... 7

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 User Variables and the 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/Deceleration ........................................................................................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 ................................................................................................... 37

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

2.7.4 Store and Retrieve Variables from the EPM .......................................................................... 41

2.8 System Variables and Flags Summary .................................................................................. 42

2.8.1 System Variables ................................................................................................................... 42

2.8.2 System Flags .........................................................................................................................43

2.9 Control Structures ................................................................................................................... 44

2.9.1 IF Structure ............................................................................................................................44

2.9.2 DO/UNTIL Structure ..............................................................................................................45

2.9.3 WHILE Structure .................................................................................................................... 45

2.9.4 WAIT Statement ....................................................................................................................45

2.9.5 GOTO Statement and Labels ................................................................................................46

2.9.6 Subroutines ............................................................................................................................46

2.10 Scanned Event Statements .................................................................................................... 47

1 2 3 4 5 6 7 8 ... 139 140

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