/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 CNT 100 ; J P[1] 100msec CNT R[1] ; L P[1] 100/sec FINE ; L P[1] 100cm/min CNT 100 ; L P[1] 100.0inch/min CNT 100 ; L P[1] 100deg/sec CNT 100 ; ! indirect speed ; L P[1] R[1]sec CNT 100 ; ! indirect indirect ; L PR[1] R[R[1]]msec CNT 100 ; ! indirect destination ; L PR[R[1]] max_speed CNT 100 ; ; ! 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 CNT 100 ACC 100 ; L P[1] 100mm/sec CNT 100 ACC R[1] ; L P[1] 100mm/sec CNT 100 Skip,LBL[1] ; L P[1] 100mm/sec CNT 100 BREAK ; L P[1] 100mm/sec CNT 100 Offset ; L P[1] 100mm/sec CNT 100 PSPD 50 ; L P[1] 100mm/sec CNT 100 Offset,PR[1] ; L P[1] 100mm/sec CNT 100 INC ; L P[1] 100mm/sec CNT 100 RT_LD R[1] ; L P[1] 100mm/sec CNT 100 AP_LD 50 ; L P[1] 100mm/sec CNT 100 Tool_Offset ; L P[1] 100mm/sec CNT 100 Tool_Offset,PR[1] ; L P[1] 100mm/sec CNT 100 Skip,LBL[1],PR[1]=LPOS ; L P[1] 100mm/sec CNT 100 TB R[5]sec,CALL ALL ; L P[1] 100mm/sec CNT 100 TA 0.00sec,AO[1]=R[5] ; L P[1] 100mm/sec CNT 100 DB 0.0mm,CALL ALL ; L P[1] 100mm/sec CNT 100 PTH ; L P[1] 100mm/sec CNT 100 VOFFSET,VR[1] ; /POS P[1:"test"]{ GP 1: 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