Bosch 6000 User's Guide download pdf (Page 38)

Chapter 1. Programming Fundamentals

Program Flow Control

Program flow refers to the order in which commands will be executed, and whether they will

be executed at all. In general, commands are executed in the order in which they are received.

However, certain commands can redirect the order in which commands will be processed.

You can affect program flow with:

• Unconditional Loops and Branches

• Conditional Loops and Branches

Unconditional Looping and Branching

Unconditional

Looping

The Loop (L) command is an unconditional looping command. You may use this command

to repeat the execution of a group of commands for a predetermined number of iterations. You

can nest Loop commands up to 16 levels deep. The code sample (portion of a program) below

demonstrates a loop of 5 iterations.

MA0 ; Sets unit to Incremental mode

A50 ; Sets acceleration to 50

V5 ; Sets velocity to 5

L5 ; Loops 5 times

D2000 ; Sets distance to 2,000

GO1 ; Executes the move (Go)

T2 ; Delays 2 seconds after the move

LN ; Ends loop

Unconditional

Branching

There are three ways to branch unconditionally:

GOTO: The GOTO command transfers control from the current program being processed to

the program name or label stated in the GOTO command.

GOSUB: The GOSUB command branches to the program name or label stated in the GOSUB

command; however, the GOSUB command returns control to the program where the

branch occurred (resumes at the next command line after the GOSUB).

JUMP: The JUMP command branches to the program name or label stated in the JUMP

command. All nested IFs, WHILEs, and REPEATs, loops, and subroutines are

cleared; thus, the program or label that the JUMP initiates will not return control to

the line after the JUMP, when the program completes operation. Instead, the

program will end.

If an invalid program or label name is entered, the branch command will be ignored and

processing will continue with the next line in the program.

The 6000 family does not support recursive calling of subroutines.

Using labels: Labels, defined with the $ command, provide a method of branching to specific

locations within the same program. Labels can only be defined within a program and executed

with a GOTO, GOSUB, or JUMP command from within the same program (see Example B below).

NOTE

Be careful about performing a GOTO within a loop or branch statement area (i.e., between

L & LN, between IF & NIF, between REPEAT & UNTIL, or between WHILE & NWHILE). Branching

to a different location within the same program will cause the next L, IF, REPEAT, or WHILE

statement encountered to be nested within the previous L, IF, REPEAT, or WHILE statement

area, unless an LN, NIF, UNTIL, or NWHILE command has already been encountered.

** To avoid this nesting situation, use the JUMP command instead of the GOTO command.

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Bosch 6000 User's Guide Page 38

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