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Controlling Program

Step
StepWatch
StepTag
StepWait

If
Then
Else

Goto
Abort
Call
Return
Resume

Step identifier
Step identifier with watchdog
Step identifier with tag
Step identifier with time delay

Condition block identifier
True action block identifier
FALSE action block identifier

Goto a step label
Abort task execution
Call a symbol/label
Return execution to the caller
Return execution to the caller's step with tag
Preprocessors
Define
If_Define
If_Not_Define
Else_If
End_If
DefineErrorHandler
Comment_Start
Comment_End
Define a preprocessor symbol constant
Preprocessor - if defined symbol constant
Preprocessor - if not defined symbol constant
Preprocessor - else if
Preprocessor - end if
Define an error handler symbol
Preprocessor - comment start
Preprocessor - comment end
Condition Operations
And
Or
Nop
Not
Logical AND
Logical OR
No operation (Skip action/condition)
Logical NOT
Manipulation Operations
Error
Set
Reset
Start
Stop
Cont
Delay
SL
SR
Inc
Dec
Trigger a timeout error for StepWatch
Switch ON an operand
Switch OFF an operand
Start an operation
Stop an operation
Continue an operation
Halt program execution for a given period
Logical left shift operation
Logical right shift operation
Increment an operand
Decrement an operand
Data Units
In
Iw
Out
Ow
Flag
Fw
Reg
Tm
Tw
Tp
PrIndex
TaskID
Var
PVar
.
Pr
Input bit identifier
Input word identifier
Output bit identifier
Output word identifier
Flag bit identifier
Flag word identifier
Register identifier
Timer status identifier
Timer word identifier
Timer preset identifier
Program execution index
Task ID
Local variable
Program variable
Symbol
Program identifier
Analogue Functions
Adc
Dac
Analogue to digital conversion
Digital to analogue conversion
Block Functions
LoadOw
LoadReg
LoadFw
Load Var
Load PVar

SaveRegister
Save FlagWord
RetrieveRegister
RetrieveFlagWord
Load value to a block of output word
Load value to a block of register
Load value to a block of flag word
Load value to a block of local variable
Load value to a block of program variable

Save a block of register(s) onto a file
Save a block of flag word(s) onto a file
Retrieve a block of register(s) from a file
Retrieve a block of flag word(s) from a file
Motion Functions
MMode
Vel
Accl
Home
Null
Move
MoveTo
Go
Execute
MStop
MKill
MPause
MSkip
MRestart
MCont
DriveOn
MDriveOff
Arc
MGroup
MRdy
Mend
MLimit
MCwLimit
MCcwLimit
PosActual
PosDesired

Motion set controller mode (specific)
Motion velocity
Motion acceleration
Motion home seacrh operation
Set current motion position to zero
Relative motion move (incremental)
Absolute motion move
Start motion (buffered)
Start motion (immediate)
Smooth motion stop
Immediate motion stop (abruptly)
Pause a motion
Skip one buffered motion
Re-start a motion
Continue a stopped motion
Motion driver power ON
Motion driver power OFF
Arc motion move
Change motion group
Motion controller ready status
Motion ended status
Motion Limit hit status
Motion clockwise limit hit status
Motion counter-clockwise limit hit status
Motion actual (encoder) position
Motion desired position
Remote Functions
@LoadOw
@LoadReg
@LoadFw
@In
@Iw
@Out
@Ow
@Flag
@Fw
@Reg
@Tm
@Tw
@Tp
Load value to a block of remote output word
Load value to a block of remote register
Load value to a block of remote flag word
Remote input bit identifier
Remote input word identifier
Remote output bit identifier
Remote output word identifier
Remote flag bit identifier
Remote flag word identifier
Remote register identifier
Remote timer status identifier
Remote timer word identifier
Remote timer preset identifier
Operators
+
-
*
/
<
<=
>
>=
=
<>
=
Addition
Subtraction
Multiplication
Division
Less than
Less than or equal to
Greater than
Greater than or equal to
Equal
Not equal
Assignment
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