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Controlling
Program |
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Step |
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 |
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Preprocessors
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| 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 |
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| Condition
Operations |
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| And
Or Nop Not |
Logical
AND Logical OR No operation (Skip action/condition) Logical NOT |
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| Manipulation
Operations |
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| 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 |
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| Data
Units |
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| 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 |
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| Analogue
Functions |
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| Adc Dac |
Analogue
to digital conversion Digital to analogue conversion |
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| Block
Functions |
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| 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 |
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| Motion
Functions |
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| 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 |
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| Remote
Functions |
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| @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 |
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| Operators |
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| + - * / < <= > >= = <> = |
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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