Program Flow

Macro Function

Function	Properties	Values	Comments
MACRO	Actions	Call	Call another macro. The called macro must end with a “Macro return” function, otherwise it could misbehave
		Return	Return to the caller of this macro
		Jump	Jump to a macro
		Repeat	Repeats the current macro from the start the number of times given. 0 means repeat forever (endless loop)
		End program

Example: Jump from macro #4 to macro #2 without return

If Function

Function	Properties	Values	Comments
IF	If	Target reached Set-point acknowledge Actual position Actual velocity Actual force Digital input Analog input Register value	Use the IF command to execute a block of commands based on a condition that is provided. Different 'is' properties are available based on the different 'if' conditions to evaluate.
	Is	Higher Lower Equal Unequal On/ Off	Logical comparison between values
	Than	Constant / variable	It can use any readable variable in the controller or an integer value
	Then	Macro call Macro jump Macro return Macro continue	Type of macro action. See Macro function above.
	Macro number	Integer between 0 and 63
	Else	Macro call Macro jump Macro return Macro continue	Type of macro action. See Macro function above.
	Macro number	Integer between 0 and 63

Example:

This program shows how to set a digital output depending on an analog input signal value.

Check Analog input #1 value: If greater than 100 ADC counts jump to macro #2 and set digital output #1 to ON, otherwise jumps to macro #2 and set digital output #1 to OFF.

Wait Function

Function

Properties

Values

Comments

Wait

Timer

Time in ms

The macro execution waits for a given time before processing the next function.

Register Value Timer

Time in ms

Time (ms ) can be defined as constant value or read from an internal register.

This option uses the internal value of 'wait register' as variable.

Conditional

Target reached
Set point acknowledge
Index Pulse
Actual position
Actual Force
Register Value
Analog Input
Digital Input

The macro execution waits for an event, motion value or input signal status before processing the next function.

Example:

Program waits for digital input = ON before executing the next macro instruction.

Stop Function

Function	Properties	Values	Comments
Stop	Mode	Quick Stop Halt Slow Stop