Omron TJ2-MC64 - PROGRAMMING - Page 114

BASIC commands
PROGRAMMING MANUAL 108
Revision 1.0
3.2.146 GLOBAL
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3.2.147 GOSUB..RETURN
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3.2.148 GOTO
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Type System command
Syntax GLOBAL ["name"[, vr_number]]
Description Declares the name as a reference to one of the global VR varia-
bles. The name can then be used both within the program contain-
ing the GLOBAL definition and all other programs in the Trajexia
Studio project.
Note: The program containing the GLOBAL definition must be run
before the name is used in other programs. In addition, only that
program should be running at the time the GLOBAL is executed,
otherwise the program error will appear and the program will stop
when trying to execute this command. For fast startup the program
should also be the only process running at power-up.
Using GLOBAL with only the name will erase the specified global
variable. Using GLOBAL with no parameters will erase all
GLOBAL declarations. This also happens when the TJ2-MC64 is
reset by switching the power off and back on, or by executing the
EX command.
In programs that use the defined GLOBAL, name has the same
meaning as VR(vr_number). Do not use the syntax: VR(name).
A maximum of 256 GLOBALs can be declared.
The maximum length of the name of the GLOBAL is 32 characters.
Arguments • name
Any user-defined name containing lower case alpha, numeri-
cal or underscore characters.
• vr_number
The number of the VR to be associated with name.
Example GLOBAL "srew_pitch",12
GLOBAL "ratio1",534
ratio1 = 3.56
screw_pitch = 23.0
PRINT screw_pitch, ratio1
See also LIST_GLOBAL
Type Program control command
Syntax GOSUB label
...
RETURN
Description The GOSUB structure enables a subroutine jump. GOSUB stores the position
of the line after the GOSUB command and then jumps to the specified label.
Upon reaching the RETURN statement, program execution is returned to the
stored position.
Note: Subroutines on each task can be nested up to 8 levels deep.
Arguments • label
A valid label that occurs in the program. An invalid label will give a compi-
lation error before execution.
Labels can be character strings of any length, but only the first 15 charac-
ters are significant. Alternatively line numbers may be used as labels.
Example main:
GOSUB routine
GOTO main
routine:
PRINT "Measured position=";MPOS;CHR(13);
RETURN
See also GOTO
Type Program control command
Syntax GOTO label
Description The GOTO structure enables a jump of program execution. GOTO jumps pro-
gram execution to the line of the program containing the label.