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PM94P01C 31

Introduction

1.11.2 Loops

SML language supports WHILE/ENDWHILE block statement which can be used to create conditional loops. Note that

IF-GOTO statements can also be used to create loops.

The following example illustrates calling subroutines as well as how to implement looping by utilizing WHILE / ENDWHILE

statements.

;*************************** Initialize and Set Variables ******************

UNITS = 1 ;Units in Revolutions (R)

ACCEL = 15 ;15 Rev per second per second (RPSS)

DECEL = 15 ;15 Rev per second per second (RPSS)

MAXV = 100 ;100 Rev per second (RPS)/6000RPM

APOS = 0 ;Set current position to 0 (absolute zero position)

DEFINE LOOPCOUNT V1

DEFINE LOOPS 10

DEFINE DIST V2

DEFINE REPETITIONS V3

REPETITIONS = 0

;******************************* Main Program ********************************

PROGRAM_START: ;Place holder for main program loop

ENABLE ;Enable output from drive to motor

MAINLOOP:

LOOPCOUNT=LOOPS ;Set up the loopcount to loop 10 times

DIST=10 ;Set distance to 10

WHILE LOOPCOUNT ;Loop while loopcount is greater than zero

DIST=DIST/2 ;decrease dist by 1/2

GOSUB MDS ;Call to subroutine

WAIT TIME 100 ;Delay executes after returned from the subroutine

LOOPCOUNT=LOOPCOUNT-1 ;decrement loop counter

ENDWHILE

REPETITIONS=REPETITIONS+1 ;outer loop

IF REPETITIONS < 5

GOTO MAINLOOP

Wait Motioncomplete ;Wait for MDV segments to be completed

ENDIF

END

;****************************** Sub-Routines ******************************

MDS:

V4=dist/3

MDV V4,10

MDV V4,0

RETURN

NOTE

Running this code as is will most likely result in F_23. There are 3 MDV statements that are

executed 10 times = 30 moves. Then the condition set on the repetitions variable makes the

program execute the above another 4 times. 4 x 30 = 120. The 120 moves, with no waits anywhere

in the program will most likely produce an F_23 fault (Motion Queue overﬂow).

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