Bosch 6000 User's Guide download pdf (Page 39)

6000 Series Programmer's Guide

Example A

DESCRIPTION: The program cut1 is executed until it gets to the command GOSUB

prompt. From there it branches unconditionally to the subroutine (actually a program) called

prompt. The subroutine prompt queries the operator for the number of parts to process.

After the part number is entered (e.g., operator enters the !'12 command to process 12 parts),

the rest of the prompt subroutine is executed and control goes back to the cut1 program and

resumes program execution with the next command after the GOSUB, which is MAØØ.

DEL cut1 ; Delete a program before defining it

DEF cut1 ; Begin definition of program cut1

HOM11 ; Send axes 1 and 2 to the home position

WAIT(1AS=b0XXX1 AND 2AS=b0XXX1) ; Wait for axes 1 and 2 to come

; to a halt at home

GOSUB prompt ; Go to subroutine program called prompt

MA00 ; Place axes 1 and 2 in the incremental mode

A10,30 ; Set acceleration: axis 1 = 10, axis 2 = 30

AD5,12 ; Set deceleration: axis 1 = 5, axis 2 = 12

V5,8 ; Set velocity: axis 1 = 5, axis 2 = 8

D16000,100000 ; Set distance: axis 1 = 16,000; axis 2 = 100,000

OUT.6-1 ; Turn on output number 6

T5 ; Wait for 5 seconds

L(VAR2) ; Begin loop ( the number of loops = value of VAR2)

GO11 ; Initiate moves on axes 1 and 2

T3 ; Wait for 3 seconds

LN ; End loop

OUT.6-0 ; Turn off output number 6

END ; End definition of program cut1

DEF prompt ; Begin definition of program prompt

VARS1="Enter part count >" ; Place message in string variable #1

VAR2=READ1 ; Prompt operator with string variable #1,

; and read data into numeric variable #2

; NOTE: Type !' before the part count number.

END ; End definition of program prompt

Example B

This example demonstrates the use of labels ($).

DEL pick ; Delete a program before defining it

DEF pick ; Begin definition of program pick

GO1100 ; Initiate motion and axes 1 and 2

IF(VAR1=5) ; If variable 1 = 5, then execute commands

; between IF and ELSE.

; Otherwise, execute commands between ELSE and NIF

GOTO pick1 ; Goto label pick1

ELSE ; Else part of IF statement

GOTO pick2 ; Goto label pick2

NIF ; End of IF statement

$ pick1 ; Define label for pick1

GO0011 ; Initiate motion on axes 3 and 4

BREAK ; Break out of current subroutine or program

$ pick2 ; Define label for pick2

GO1001 ; Initiate motion on axes 1 and 4

END ; End definition of program pick

Conditional Looping and Branching

Conditional looping (REPEAT/UNTIL and WHILE/NWHILE) entails repeating a set of

commands until or while a certain condition exists. In conditional branching

(IF/ELSE/NIF), a specific set of commands is executed based on a certain condition. Both

rely on the fulfillment of a conditional expression, a condition specified in the UNTIL,

WHILE, or IF commands.

A WAIT command pauses command execution until a specific condition exists.

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Bosch 6000 User's Guide Page 39

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