IMS MicroLYNX - Page 56

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LIST [List Stored Program Space]
This instruction lists the contents of program memory. By using optional param-
eters (i.e. LIST <lbl/addr>) it can selectively list the contents of memory. If no
parameter is specified it will list all of program space.
SAVE [Save]
Save all user-defined variables with the current data, all programs, and all factory-
defined VARS/FLGS/IOS to NVM.
PRINT [Print]
Used to output text and parameter values to the host PC. Text should be enclosed
in quotation marks, parameters should not. There are also several control charac-
ters which may be embedded in the text to control how the text is displayed.
Here are several examples along with comments.
PRINT IOS ‘Print the state of all I/O lines
PRINT UVARS ‘Display the value of user-defined variables
PRINT ALL ‘Display the state of all VARS/FLGS/IOS
PRINT ACCL ‘Display the value of the acceleration variable
‘Display the text “Axis at position:” and the value of the POS counter
‘embed a line feed with no carriage return
PRINT "\nAxis at position: " ,POS;
The PRINT instruction is the most often used instruction, and is often used
extensively in programs.
PGM [Enter/Leave Program Mode]
This instruction toggles the MicroLYNX in and out of program mode. When entering
program mode, it must be followed by the memory address where the program will
begin. There must be a space between PGM and the address. For example:
PGM 200
Will start the program at address 200.
Motion Instructions
These instructions can be used in either immediate or program mode. How they
operate is dependant on the MUNIT, ACCL, DECL, VI and VM variables.
MOVA [Move to Absolute Position]
This instruction will index the motor to a specified absolute position relative to
zero (0). There are 2 modes that may be used with it:
1] Mode 0 will decelerate to position and stop.
2] Mode 1 will not decelerate.
See the following figure and program example for illustration of MOVA modes.
Enter the following program in the text editor window. The test condition for
this demo was a MicroLYNX-4 and an IMS M2-2220 23 frame motor. You may
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