User Manual Chapter 7
GFK-1742F Jan 2020
Programmed Motion 173
Program/Subroutine Definition Commands
PROGRAM
ENDPROG
SUBROUTINE
ENDSUB
Type 1 commands can redirect the program path execution, but do not directly affect
positioning.
•
Call (Subroutine) executes a subroutine before returning execution to the next
command.
•
Jumps may be conditional or unconditional. An unconditional jump always
redirects execution to a specified program location. A conditional jump is assigned
a CTL bit to check. If the CTL bit is ON, the jump redirects execution to a specified
program location. If the CTL bit is OFF, the jump is ignored.
Type 2 commands also do not affect position.
•
Block numbers provide an identification or label for the Type 3 command that
follows. Block numbers are required with JUMP commands; otherwise, they are
optional. If a program block does not contain a block number, the previous block
number, if any, remains in effect.
•
The SYNC (synchronize block) command is a two-axis synchronization command
(this may or may not delay motion on one axis).
•
The Load Parameter command allows the user to load a value into a parameter
register.
•
The Velocity (VELOC) and Acceleration (ACCEL) commands specify velocity and
acceleration rates for the Type 3 MOVE command or commands that follow.
Velocity and Acceleration commands remain in effect until changed.
Type 3 commands start or stop motion and thus affect positioning control.
•
Positioning (PMOVE) and Continuous (CMOVE) moves command motion.
•
The Dwell, Wait, and End of Program commands stop motion.
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