288
Manual – IPOSplus®
22
Basics
Assembler – Programming
22 Assembler – Programming
22.1 Basics
The IPOS
plus®
Assembler is part of the MOVITOOLS
®
MotionStudio program package.
The Assembler program is entered over a number of screens.
22.1.1 Program header
For user programs in which positioning commands are used, enter the user travel units
in the program header.
22.1.2 Task 1 / Task 2 / Task 3
The IPOS
plus®
positioning and sequence control system allows a user program to be
spilt into 3 subroutines (task 1 / task 2 / task 3) which can run in parallel and indepen-
dently of one another.
22.1.3 Comments
Like command lines, you can insert comments anywhere in the user program.
Remarks can only be saved on the PC; they are not transferred when the program is
downloaded to the inverter.
22.1.4 Program branches
Program branches are possible with jump flags (M...) in conjunction with jump com-
mands (JMP... M...). Jump flags can be inserted before any command line.
22.1.5 Subroutine system
Subroutines can be called with a CALL command (CALL M...). The corresponding jump
flags (M...) are inserted before the first command of the subroutine. A subroutine ends
with a return command (RET). The return command causes program processing to jump
back to the line below the CALL command. The following program lines will then be pro-
cessed. Nested subroutines are possible; but a maximum of 16 layers should not be ex-
ceeded.
INFORMATION
Do not exit subroutines by jumping to a main program or another subroutine. If a sub-
routine is to be exited conditionally, this must be done by jumping to the end (RET) of
the subroutine.
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