156 lines
3.6 KiB
Text
156 lines
3.6 KiB
Text
/PROG ALL
|
|
/ATTR
|
|
OWNER = MNEDITOR;
|
|
COMMENT = "";
|
|
PROG_SIZE = 3689;
|
|
CREATE = DATE 14-05-13 TIME 17:03:06;
|
|
MODIFIED = DATE 14-05-13 TIME 17:21:44;
|
|
FILE_NAME = ;
|
|
VERSION = 0;
|
|
LINE_COUNT = 118;
|
|
MEMORY_SIZE = 4365;
|
|
PROTECT = READ_WRITE;
|
|
TCD: STACK_SIZE = 0,
|
|
TASK_PRIORITY = 50,
|
|
TIME_SLICE = 0,
|
|
BUSY_LAMP_OFF = 0,
|
|
ABORT_REQUEST = 0,
|
|
PAUSE_REQUEST = 0;
|
|
DEFAULT_GROUP = 1,*,*,*,*;
|
|
CONTROL_CODE = 00000000 00000000;
|
|
/MN
|
|
! motion ;
|
|
J P[1:test point] 100% FINE ;
|
|
J P[1] 100.0sec CNT100 ;
|
|
J P[1] 100msec CNT R[1] ;
|
|
L P[1] 100/sec FINE ;
|
|
L P[1] 100cm/min CNT100 ;
|
|
L P[1] 100.0inch/min CNT100 ;
|
|
L P[1] 100deg/sec CNT100 ;
|
|
! indirect speed ;
|
|
L P[1] R[1]sec CNT100 ;
|
|
! indirect indirect ;
|
|
L PR[1] R[R[1]]msec CNT100 ;
|
|
! indirect destination ;
|
|
L PR[R[1]] max_speed CNT100 ;
|
|
;
|
|
! assignment ;
|
|
R[1]=R[2] ;
|
|
! indirect assignment ;
|
|
R[R[1]]=R[2] ;
|
|
! system variables ;
|
|
$foo=$bar[100].$baz ;
|
|
R[1]=$FOO.$BAR ;
|
|
;
|
|
! various keyword assignments ;
|
|
PR[1]=LPOS ;
|
|
PR[1]=JPOS ;
|
|
PR[1]=UFRAME[1] ;
|
|
PR[1]=UTOOL[1] ;
|
|
PR[1]=P[1] ;
|
|
PR[1,1:component]=5 ;
|
|
SR[1:string reg]=SR[2]+AR[1] ;
|
|
R[1]=SO[1:Cycle start] DIV SI[2:Remote] ;
|
|
R[1]=UO[1:Cmd enabled] MOD UI[1:*IMSTP] ;
|
|
! mixed logic ;
|
|
DO[1]=(DI[1] AND AR[1] AND F[1] OR TIMER[1]>TIMER_OVERFLOW[1]) ;
|
|
F[1]=(ON) ;
|
|
JOINT_MAX_SPEED[1]=5 ;
|
|
LINEAR_MAX_SPEED=5 ;
|
|
SKIP CONDITION DI[1]=OFF- ;
|
|
PAYLOAD[R[1]] ;
|
|
OFFSET CONDITION PR[1] ;
|
|
UFRAME_NUM=1 ;
|
|
UTOOL_NUM=1 ;
|
|
UFRAME[1]=PR[1] ;
|
|
UTOOL[1]=PR[1] ;
|
|
RSR[1]=ENABLE ;
|
|
RSR[AR[1]]=DISABLE ;
|
|
UALM[1] ;
|
|
TIMER[1]=START ;
|
|
TIMER[1]=STOP ;
|
|
TIMER[1]=RESET ;
|
|
OVERRIDE=50% ;
|
|
TOOL_OFFSET CONDITION PR[1] ;
|
|
LOCK PREG ;
|
|
UNLOCK PREG ;
|
|
COL DETECT ON ;
|
|
COL DETECT OFF ;
|
|
COL GUARD ADJUST R[1] ;
|
|
COL GUARD ADJUST 50 ;
|
|
MONITOR TEST ;
|
|
MONITOR END TEST ;
|
|
R[1]=STRLEN SR[1] ;
|
|
SR[1]=SUBSTR SR[2],R[3],R[4] ;
|
|
R[1]=FINDSTR SR[1],SR[2] ;
|
|
DIAG_REC[1,5,2] ;
|
|
;
|
|
! program calls ;
|
|
CALL TEST ;
|
|
CALL TEST(1,'string',SR[1],AR[1]) ;
|
|
RUN TEST ;
|
|
RUN TEST(1,'string',SR[1],AR[1]) ;
|
|
;
|
|
! conditionals ;
|
|
IF R[1]=1,JMP LBL[5] ;
|
|
IF R[1]=AR[1],CALL TEST ;
|
|
IF (DI[1]),R[1]=(5) ;
|
|
SELECT R[1]=1,JMP LBL[5] ;
|
|
=2,CALL TEST ;
|
|
ELSE,JMP LBL[100] ;
|
|
FOR R[1]=1 TO R[2] ;
|
|
ENDFOR ;
|
|
;
|
|
! wait statement ;
|
|
WAIT 1.00(sec) ;
|
|
WAIT R[5] ;
|
|
WAIT DI[1]=ON ;
|
|
WAIT DI[1]=ON+ ;
|
|
WAIT ERR_NUM=1 ;
|
|
WAIT (DI[1]=ON) ;
|
|
;
|
|
! jumps and labels ;
|
|
JMP LBL[1] ;
|
|
JMP LBL[R[1]] ;
|
|
LBL[100] ;
|
|
LBL[100:TEST] ;
|
|
;
|
|
! statements ;
|
|
PAUSE ;
|
|
ABORT ;
|
|
ERROR_PROG=ALL ;
|
|
RESUME_PROG[1]=TEST ;
|
|
END ;
|
|
MESSAGE[ASDF] ;
|
|
;
|
|
! comments ;
|
|
--eg:ASDFASDFASDF ;
|
|
// L P[9] 100mm/sec CNT100 ACC100 ;
|
|
;
|
|
! motion modifiers ;
|
|
L P[1] 100mm/sec CNT100 ACC100 ;
|
|
L P[1] 100mm/sec CNT100 ACC R[1] ;
|
|
L P[1] 100mm/sec CNT100 Skip,LBL[1] ;
|
|
L P[1] 100mm/sec CNT100 BREAK ;
|
|
L P[1] 100mm/sec CNT100 Offset ;
|
|
L P[1] 100mm/sec CNT100 PSPD50 ;
|
|
L P[1] 100mm/sec CNT100 Offset,PR[1] ;
|
|
L P[1] 100mm/sec CNT100 INC ;
|
|
L P[1] 100mm/sec CNT100 RT_LDR[1] ;
|
|
L P[1] 100mm/sec CNT100 AP_LD50 ;
|
|
L P[1] 100mm/sec CNT100 Tool_Offset ;
|
|
L P[1] 100mm/sec CNT100 Tool_Offset,PR[1] ;
|
|
L P[1] 100mm/sec CNT100 Skip,LBL[1],PR[1]=LPOS ;
|
|
L P[1] 100mm/sec CNT100 TB R[5]sec,CALL ALL ;
|
|
L P[1] 100mm/sec CNT100 TA 0.00sec,AO[1]=R[5] ;
|
|
L P[1] 100mm/sec CNT100 DB 0.0mm,CALL ALL ;
|
|
L P[1] 100mm/sec CNT100 PTH ;
|
|
L P[1] 100mm/sec CNT100 VOFFSET,VR[1] ;
|
|
/POS
|
|
P[1:"test"]{
|
|
GP1:
|
|
UF : 0, UT : 1, CONFIG : '',
|
|
X = 550.000 mm, Y = 0.000 mm, Z = -685.000 mm,
|
|
W = 180.000 deg, P = 0.000 deg, R = 0.000 deg
|
|
};
|
|
/END
|